diff --git a/MakeConfig.inc b/MakeConfig.inc
index 3e5249b..fc02383 100755
--- a/MakeConfig.inc
+++ b/MakeConfig.inc
@@ -1,33 +1,39 @@
 ifeq ($(SCCC_CONFIG),INNO)
 BIN_SUFFIX:=$(BIN_SUFFIX)-inno
-CPPFLAGS+=-DK60_INNO
+CPPFLAGS+=-DK60_INNO=1
 SCCC_MCU=MK60DZ10
 $(info Config = INNO)
 
 else ifeq ($(SCCC_CONFIG),2014_CAMERA)
 BIN_SUFFIX:=$(BIN_SUFFIX)-2014-camera
-CPPFLAGS+=-DK60_2014_CAMERA
+CPPFLAGS+=-DK60_2014_CAMERA=1
 SCCC_MCU=MK60DZ10
 $(info Config = 2014_CAMERA)
 
 else ifeq ($(SCCC_CONFIG),2014_CCD)
 BIN_SUFFIX:=$(BIN_SUFFIX)-2014-ccd
-CPPFLAGS+=-DK60_2014_CCD
+CPPFLAGS+=-DK60_2014_CCD=1
 SCCC_MCU=MK60DZ10
 $(info Config = 2014_CCD)
 
 else ifeq ($(SCCC_CONFIG),2014_INNO)
 BIN_SUFFIX:=$(BIN_SUFFIX)-2014-inno
-CPPFLAGS+=-DK60_2014_INNO
+CPPFLAGS+=-DK60_2014_INNO=1
 SCCC_MCU=MK60DZ10
 $(info Config = 2014_INNO)
 
 else ifeq ($(SCCC_CONFIG),2014_MAGNETIC)
 BIN_SUFFIX:=$(BIN_SUFFIX)-2014-magnetic
-CPPFLAGS+=-DK60_2014_MAGNETIC
+CPPFLAGS+=-DK60_2014_MAGNETIC=1
 SCCC_MCU=MK60DZ10
 $(info Config = 2014_MAGNETIC)
 
+else ifeq ($(SCCC_CONFIG),VCAN_FX15DEV)
+BIN_SUFFIX:=$(BIN_SUFFIX)-vcan-fx15dev
+CPPFLAGS+=-DK60_VCAN_FX15DEV=1
+SCCC_MCU=MK60F15
+$(info Config = VCAN_FX15DEV)
+
 else
 $(error Missing/Unknown config '$(SCCC_CONFIG)' (set SCCC_CONFIG))
 
diff --git a/Makefile b/Makefile
index c6ff19b..d060ab7 100755
--- a/Makefile
+++ b/Makefile
@@ -56,20 +56,20 @@ CCFLAGS+=-Wall -Wextra
 
 ifeq ($(SCCC_BUILD),DEBUG)
 BIN_SUFFIX:=$(BIN_SUFFIX)-d
-CPPFLAGS+=-DDEBUG
+CPPFLAGS+=-DDEBUG=1
 CCFLAGS+=-O0 -g3
 $(info Build = DEBUG)
 
 else ifeq ($(SCCC_BUILD),RELEASE)
 BIN_SUFFIX:=$(BIN_SUFFIX)-r
-CPPFLAGS+=-DRELEASE -DNDEBUG
+CPPFLAGS+=-DRELEASE=1 -DNDEBUG
 CCFLAGS+=-O2 -g0
 $(info Build = RELEASE)
 
 else
 $(warning Unknown build type, defaulting to DEBUG (set SCCC_BUILD))
 BIN_SUFFIX:=$(BIN_SUFFIX)-d
-CPPFLAGS+=-DDEBUG
+CPPFLAGS+=-DDEBUG=1
 CCFLAGS+=-O0 -g3
 $(info Build = DEBUG)
 
@@ -78,17 +78,23 @@ endif
 include MakeConfig.inc
 
 ifeq ($(SCCC_MCU),MK60DZ10)
-CPPFLAGS+=-DMK60DZ10
+CPPFLAGS+=-DMK60DZ10=1
 CCFLAGS+=-mthumb -mthumb-interwork -mcpu=cortex-m4
 CCFLAGS+=-msoft-float -mfloat-abi=soft
 $(info MCU sub-family = MK60DZ10)
 
 else ifeq ($(SCCC_MCU),MK60D10)
-CPPFLAGS+=-DMK60D10
+CPPFLAGS+=-DMK60D10=1
 CCFLAGS+=-mthumb -mthumb-interwork -mcpu=cortex-m4
 CCFLAGS+=-msoft-float -mfloat-abi=soft
 $(info MCU sub-family = MK60D10)
 
+else ifeq ($(SCCC_MCU),MK60F15)
+CPPFLAGS+=-DMK60F15=1
+CCFLAGS+=-mthumb -mthumb-interwork -mcpu=cortex-m4
+CCFLAGS+=-mfpu=fpv4-sp-d16 -mfloat-abi=hard
+$(info MCU sub-family = MK60F15)
+
 else
 $(error Missing/Unknown MCU identifier '$(SCCC_MCU)' (set SCCC_MCU))
 
@@ -125,6 +131,20 @@ SRC_FILES:=$(shell find $(SRC_PATH) -type f -name *.c -o -name *.S -o -name *.cp
 
 endif
 
+not_contain=$(foreach v,$2,$(if $(findstring $1,$v),,$v))
+SRC_FILES:=$(call not_contain,/pinout/,$(SRC_FILES))
+
+ifeq ($(SCCC_MCU),MK60DZ10)
+SRC_FILES+=$(SRC_PATH)/libbase/k60/pinout/mk60d10_lqfp144.cpp
+
+else ifeq ($(SCCC_MCU),MK60D10)
+SRC_FILES+=$(SRC_PATH)/libbase/k60/pinout/mk60d10_lqfp144.cpp
+
+else ifeq ($(SCCC_MCU),MK60F15)
+SRC_FILES+=$(SRC_PATH)/libbase/k60/pinout/mk60f15_lqfp144.cpp
+
+endif
+
 OBJ_FILES:=$(SRC_FILES:$(SRC_PATH)/%.c=$(OUT_OBJ_PATH)/%.o)
 OBJ_FILES:=$(OBJ_FILES:$(SRC_PATH)/%.S=$(OUT_OBJ_PATH)/%.o)
 OBJ_FILES:=$(OBJ_FILES:$(SRC_PATH)/%.cpp=$(OUT_OBJ_PATH)/%.o)
diff --git a/README.md b/README.md
index 91e00c3..e3d7f2c 100644
--- a/README.md
+++ b/README.md
@@ -1,16 +1,15 @@
 libsccc
 ==============
 
-libsccc (previously libsmartcarcpp) is the library being used among the HKUST SmartCar Team.  
-Master is the stable branch. Current developments are being done mainly on [fauxstess-cupcake](https://github.com/hkust-smartcar/libsccc/tree/fauxstess-cupcake), but also various other branches.  
+libsccc (previously libsmartcarcpp) is the library being used among the HKUST SmartCar Team
 
 ## What's Inside
-libbase: K60 peripheral library  
+libbase: Peripheral library for MK60D(Z)10, MK60F15(/12)  
 libsc: High-level component library based on libbase  
-libutil: Useful utilities
+libutil: Useful utilities  
 
 ## Dependency
 None
 
 ## Build
-GNU Make, [GNU Tools for ARM Embedded Processor](https://launchpad.net/gcc-arm-embedded)
+GNU Make 3.81+, [GNU Tools for ARM Embedded Processor 4.8+](https://launchpad.net/gcc-arm-embedded)
diff --git a/inc/libbase/cmsis/core_cm4.h b/inc/libbase/cmsis/core_cm4.h
index 1a3b861..6b2c599 100755
--- a/inc/libbase/cmsis/core_cm4.h
+++ b/inc/libbase/cmsis/core_cm4.h
@@ -37,6 +37,8 @@
 
 #if defined ( __ICCARM__ )
  #pragma system_include  /* treat file as system include file for MISRA check */
+#elif defined ( __GNUC__ )
+ #pragma GCC system_header
 #endif
 
 #ifndef __CORE_CM4_H_GENERIC
diff --git a/inc/libbase/cmsis/core_cm4_simd.h b/inc/libbase/cmsis/core_cm4_simd.h
index f9bceff..88c06cd 100755
--- a/inc/libbase/cmsis/core_cm4_simd.h
+++ b/inc/libbase/cmsis/core_cm4_simd.h
@@ -37,6 +37,8 @@
 
 #if defined ( __ICCARM__ )
  #pragma system_include  /* treat file as system include file for MISRA check */
+#elif defined ( __GNUC__ )
+ #pragma GCC system_header
 #endif
 
 #ifndef __CORE_CM4_SIMD_H
diff --git a/inc/libbase/cmsis/core_cmFunc.h b/inc/libbase/cmsis/core_cmFunc.h
index 2c2af69..87eacf1 100755
--- a/inc/libbase/cmsis/core_cmFunc.h
+++ b/inc/libbase/cmsis/core_cmFunc.h
@@ -35,9 +35,19 @@
    ---------------------------------------------------------------------------*/
 
 
+#if defined ( __ICCARM__ )
+ #pragma system_include  /* treat file as system include file for MISRA check */
+#elif defined ( __GNUC__ )
+ #pragma GCC system_header
+#endif
+
 #ifndef __CORE_CMFUNC_H
 #define __CORE_CMFUNC_H
 
+#ifdef __cplusplus
+  extern "C" {
+#endif
+
 
 /* ###########################  Core Function Access  ########################### */
 /** \ingroup  CMSIS_Core_FunctionInterface
@@ -634,4 +644,8 @@ __attribute__( ( always_inline ) ) __STATIC_INLINE void __set_FPSCR(uint32_t fps
 
 /*@} end of CMSIS_Core_RegAccFunctions */
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* __CORE_CMFUNC_H */
diff --git a/inc/libbase/cmsis/core_cmInstr.h b/inc/libbase/cmsis/core_cmInstr.h
index d2ec262..af026f3 100755
--- a/inc/libbase/cmsis/core_cmInstr.h
+++ b/inc/libbase/cmsis/core_cmInstr.h
@@ -35,9 +35,19 @@
    ---------------------------------------------------------------------------*/
 
 
+#if defined ( __ICCARM__ )
+ #pragma system_include  /* treat file as system include file for MISRA check */
+#elif defined ( __GNUC__ )
+ #pragma GCC system_header
+#endif
+
 #ifndef __CORE_CMINSTR_H
 #define __CORE_CMINSTR_H
 
+#ifdef __cplusplus
+  extern "C" {
+#endif
+
 
 /* ##########################  Core Instruction Access  ######################### */
 /** \defgroup CMSIS_Core_InstructionInterface CMSIS Core Instruction Interface
@@ -447,7 +457,7 @@ __attribute__( ( always_inline ) ) __STATIC_INLINE int32_t __REVSH(int32_t value
  */
 __attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __ROR(uint32_t op1, uint32_t op2)
 {
-  return (op1 >> op2) | (op1 << (32 - op2)); 
+  return (op1 >> op2) | (op1 << (32 - op2));
 }
 
 
@@ -684,4 +694,8 @@ __attribute__( ( always_inline ) ) __STATIC_INLINE uint8_t __CLZ(uint32_t value)
 
 /*@}*/ /* end of group CMSIS_Core_InstructionInterface */
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif /* __CORE_CMINSTR_H */
diff --git a/inc/libbase/k60/adc.h b/inc/libbase/k60/adc.h
index ddbb40f..a4f0b30 100755
--- a/inc/libbase/k60/adc.h
+++ b/inc/libbase/k60/adc.h
@@ -2,7 +2,8 @@
  * adc.h
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
@@ -14,6 +15,7 @@
 
 #include "libbase/k60/misc_utils.h"
 #include "libbase/k60/pin.h"
+#include "libbase/k60/pinout_macros.h"
 
 namespace libbase
 {
@@ -46,6 +48,28 @@ class Adc
 		kAdc1Ad23, kAdc1Ad24, kAdc1Ad25, kAdc1Ad26, kAdc1Ad27,
 		kAdc1Ad28, kAdc1Ad29, kAdc1Ad30, kAdc1Ad31,
 
+#if PINOUT_ADC_COUNT > 2
+		kAdc2DAd0 = 72, kAdc2DAd1, kAdc2DAd2, kAdc2DAd3,
+		kAdc2Ad4A, kAdc2Ad5A, kAdc2Ad6A, kAdc2Ad7A,
+		kAdc2Ad4B, kAdc2Ad5B, kAdc2Ad6B, kAdc2Ad7B,
+		kAdc2Ad8, kAdc2Ad9, kAdc2Ad10, kAdc2Ad11, kAdc2Ad12,
+		kAdc2Ad13, kAdc2Ad14, kAdc2Ad15, kAdc2Ad16, kAdc2Ad17,
+		kAdc2Ad18, kAdc2Ad19, kAdc2Ad20, kAdc2Ad21, kAdc2Ad22,
+		kAdc2Ad23, kAdc2Ad24, kAdc2Ad25, kAdc2Ad26, kAdc2Ad27,
+		kAdc2Ad28, kAdc2Ad29, kAdc2Ad30, kAdc2Ad31,
+#endif
+
+#if PINOUT_ADC_COUNT > 3
+		kAdc3DAd0 = 108, kAdc3DAd1, kAdc3DAd2, kAdc3DAd3,
+		kAdc3Ad4A, kAdc3Ad5A, kAdc3Ad6A, kAdc3Ad7A,
+		kAdc3Ad4B, kAdc3Ad5B, kAdc3Ad6B, kAdc3Ad7B,
+		kAdc3Ad8, kAdc3Ad9, kAdc3Ad10, kAdc3Ad11, kAdc3Ad12,
+		kAdc3Ad13, kAdc3Ad14, kAdc3Ad15, kAdc3Ad16, kAdc3Ad17,
+		kAdc3Ad18, kAdc3Ad19, kAdc3Ad20, kAdc3Ad21, kAdc3Ad22,
+		kAdc3Ad23, kAdc3Ad24, kAdc3Ad25, kAdc3Ad26, kAdc3Ad27,
+		kAdc3Ad28, kAdc3Ad29, kAdc3Ad30, kAdc3Ad31,
+#endif
+
 		kDisable
 	};
 
@@ -114,12 +138,19 @@ class Adc
 	void StopConvert();
 
 	/**
-	 * Return the result of a single conversion. If a conversion has not been
-	 * started yet, it will be started automatically (through StartConvert()).
+	 * Return the raw result of a single conversion. If a conversion has not
+	 * been started yet, it will be started automatically (through StartConvert())
 	 *
-	 * @return The result
+	 * @return
 	 */
 	uint16_t GetResult();
+	/**
+	 * Return the divided result of a single conversion. If a conversion has not
+	 * been started yet, it will be started automatically (through StartConvert())
+	 *
+	 * @return The result, [0.0, 3.3]
+	 */
+	float GetResultF();
 	bool PeekResult(uint16_t *out_val);
 
 	bool IsActive() const;
diff --git a/inc/libbase/k60/adc_utils.h b/inc/libbase/k60/adc_utils.h
index 3ecc5ab..5075682 100755
--- a/inc/libbase/k60/adc_utils.h
+++ b/inc/libbase/k60/adc_utils.h
@@ -2,7 +2,8 @@
  * adc_utils.h
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
diff --git a/inc/libbase/k60/clock_utils.h b/inc/libbase/k60/clock_utils.h
index e1fec82..d42eafc 100755
--- a/inc/libbase/k60/clock_utils.h
+++ b/inc/libbase/k60/clock_utils.h
@@ -2,7 +2,8 @@
  * clock_utils.h
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
diff --git a/inc/libbase/k60/cmsis/mk60f15.h b/inc/libbase/k60/cmsis/mk60f15.h
index 1a979f9..0041996 100755
--- a/inc/libbase/k60/cmsis/mk60f15.h
+++ b/inc/libbase/k60/cmsis/mk60f15.h
@@ -11138,6 +11138,10 @@ typedef struct {
  */ /* end of group Backward_Compatibility_Symbols */
 
 
+#ifdef __cplusplus
+}
+#endif
+
 #endif  /* #if !defined(MK60F15_H_) */
 
 /* MK60F15.h, eof. */
diff --git a/inc/libbase/k60/cmsis/system.h b/inc/libbase/k60/cmsis/system.h
new file mode 100755
index 0000000..8b4a426
--- /dev/null
+++ b/inc/libbase/k60/cmsis/system.h
@@ -0,0 +1,23 @@
+/*
+ * system.h
+ *
+ * Author: Ming Tsang
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
+ */
+
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * Setup the microcontroller system. This function should be used only after
+ * reset
+ */
+void SystemInit(void);
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/inc/libbase/k60/cmsis/system_mk60dz10.h b/inc/libbase/k60/cmsis/system_mk60dz10.h
deleted file mode 100755
index 6e28b32..0000000
--- a/inc/libbase/k60/cmsis/system_mk60dz10.h
+++ /dev/null
@@ -1,32 +0,0 @@
-/*
- * system_mk60dz10.h
- *
- * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
- */
-
-#ifndef __SYSTEM_MK60DZ10_H
-#define __SYSTEM_MK60DZ10_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include <stdint.h>
-
-/**
- * System Clock Frequency (Core Clock & System Clock)
- */
-extern uint32_t g_system_core_clock;
-
-/**
- * Setup the microcontroller system. This function should be used only after
- * reset
- */
-void SystemInit(void);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /*__SYSTEM_MK60DZ10_H */
diff --git a/inc/libbase/k60/crc.h b/inc/libbase/k60/crc.h
index 352d031..f2497f6 100755
--- a/inc/libbase/k60/crc.h
+++ b/inc/libbase/k60/crc.h
@@ -2,7 +2,8 @@
  * crc.h
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
diff --git a/inc/libbase/k60/crc_utils.h b/inc/libbase/k60/crc_utils.h
index 8054cc2..605fd93 100755
--- a/inc/libbase/k60/crc_utils.h
+++ b/inc/libbase/k60/crc_utils.h
@@ -2,7 +2,8 @@
  * crc_utils.h
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
diff --git a/inc/libbase/k60/dac.h b/inc/libbase/k60/dac.h
index ad3d874..ee3e270 100755
--- a/inc/libbase/k60/dac.h
+++ b/inc/libbase/k60/dac.h
@@ -2,7 +2,8 @@
  * dac.h
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
diff --git a/inc/libbase/k60/dac_utils.h b/inc/libbase/k60/dac_utils.h
index d8af894..7b138bb 100755
--- a/inc/libbase/k60/dac_utils.h
+++ b/inc/libbase/k60/dac_utils.h
@@ -2,7 +2,8 @@
  * dac_utils.h
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
diff --git a/inc/libbase/k60/dwt.h b/inc/libbase/k60/dwt.h
index 5667455..1776e12 100755
--- a/inc/libbase/k60/dwt.h
+++ b/inc/libbase/k60/dwt.h
@@ -3,7 +3,8 @@
  * Data Watchpoint and Trace, currently only supports utilizing CYCCNT to delay
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
diff --git a/inc/libbase/k60/fpu.h b/inc/libbase/k60/fpu.h
new file mode 100755
index 0000000..2275fb9
--- /dev/null
+++ b/inc/libbase/k60/fpu.h
@@ -0,0 +1,58 @@
+/*
+ * fpu.h
+ *
+ * Author: Ming Tsang
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
+ */
+
+#pragma once
+
+namespace libbase
+{
+namespace k60
+{
+
+class Fpu
+{
+public:
+	struct Config
+	{
+		enum struct RoundingMode
+		{
+			kNearest = 0,
+			kPosInf,
+			kNegInf,
+			kZero,
+		};
+
+		// Enable the default NaN mode, see p.63 of DDI0403D
+		bool is_default_nan = true;
+		// Enable the flush-to-zero mode, which effectively discard subnormal
+		// numbers, see p.62 of DDI0403D
+		bool is_flush_to_zero = true;
+		// Set the floating point rounding mode, has nothing to do with the
+		// float->int conversion
+		RoundingMode rounding_mode = RoundingMode::kNearest;
+	};
+
+	static Fpu& Get()
+	{
+		static Fpu inst;
+		return inst;
+	}
+
+	void Init();
+
+private:
+	Fpu();
+
+	__attribute__((__weak__))
+	static Config GetFpuConfig();
+
+	void InitFpccr(const Config &config);
+	void InitFpdscr(const Config &config);
+};
+
+}
+}
diff --git a/inc/libbase/k60/fpu_c.h b/inc/libbase/k60/fpu_c.h
new file mode 100755
index 0000000..1db248f
--- /dev/null
+++ b/inc/libbase/k60/fpu_c.h
@@ -0,0 +1,19 @@
+/*
+ * fpu_c.h
+ *
+ * Author: Ming Tsang
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
+ */
+
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void LibbaseK60FpuInit(void);
+
+#ifdef __cplusplus
+}
+#endif
diff --git a/inc/libbase/k60/ftm.h b/inc/libbase/k60/ftm.h
index 11a9885..b3116c8 100755
--- a/inc/libbase/k60/ftm.h
+++ b/inc/libbase/k60/ftm.h
@@ -2,12 +2,14 @@
  * ftm.h
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
 
 #include "libbase/k60/pin.h"
+#include "libbase/k60/pinout_macros.h"
 
 namespace libbase
 {
@@ -34,7 +36,34 @@ class Ftm
 		kFtm2Ch0 = 16,
 		kFtm2Ch1,
 
-		kDisable = 24
+#if PINOUT_FTM_COUNT > 3
+		kFtm3Ch0 = 24,
+		kFtm3Ch1,
+		kFtm3Ch2,
+		kFtm3Ch3,
+		kFtm3Ch4,
+		kFtm3Ch5,
+		kFtm3Ch6,
+		kFtm3Ch7,
+#endif
+
+		kDisable = 32
+	};
+
+	enum struct QdName
+	{
+		kFtm0QdPha = 0,
+		kFtm0QdPhb,
+		kFtm1QdPha,
+		kFtm1QdPhb,
+		kFtm2QdPha,
+		kFtm2QdPhb,
+#if PINOUT_FTM_COUNT > 3
+		kFtm3QdPha,
+		kFtm3QdPhb,
+#endif
+
+		kDisable
 	};
 };
 
diff --git a/inc/libbase/k60/ftm_pwm.h b/inc/libbase/k60/ftm_pwm.h
index 6560b06..72394ff 100755
--- a/inc/libbase/k60/ftm_pwm.h
+++ b/inc/libbase/k60/ftm_pwm.h
@@ -2,7 +2,8 @@
  * ftm_pwm.h
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
diff --git a/inc/libbase/k60/ftm_quad_decoder.h b/inc/libbase/k60/ftm_quad_decoder.h
index 841058b..755560a 100755
--- a/inc/libbase/k60/ftm_quad_decoder.h
+++ b/inc/libbase/k60/ftm_quad_decoder.h
@@ -2,7 +2,8 @@
  * ftm_quad_decoder.h
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
diff --git a/inc/libbase/k60/ftm_utils.h b/inc/libbase/k60/ftm_utils.h
index eaa9ad1..f2cbdbd 100755
--- a/inc/libbase/k60/ftm_utils.h
+++ b/inc/libbase/k60/ftm_utils.h
@@ -2,7 +2,8 @@
  * ftm_utils.h
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
@@ -20,8 +21,6 @@ namespace k60
 class FtmUtils
 {
 public:
-	static Ftm::Name GetFtmName(const Pin::Name pin);
-
 	static Uint GetFtmModule(const Ftm::Name pin)
 	{
 		return static_cast<Uint>(pin) / PINOUT::GetFtmChannelCount();
@@ -31,6 +30,16 @@ class FtmUtils
 	{
 		return static_cast<Uint>(pin) % PINOUT::GetFtmChannelCount();
 	}
+
+	static Uint GetFtmModule(const Ftm::QdName pin)
+	{
+		return static_cast<Uint>(pin) >> 1;
+	}
+
+	static Uint GetFtmPhase(const Ftm::QdName pin)
+	{
+		return static_cast<Uint>(pin) % 2;
+	}
 };
 
 }
diff --git a/inc/libbase/k60/gpio.h b/inc/libbase/k60/gpio.h
index d548a94..6dffd5b 100755
--- a/inc/libbase/k60/gpio.h
+++ b/inc/libbase/k60/gpio.h
@@ -2,7 +2,8 @@
  * gpio.h
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
diff --git a/inc/libbase/k60/hardware.h b/inc/libbase/k60/hardware.h
index f88d79e..bdc1e98 100755
--- a/inc/libbase/k60/hardware.h
+++ b/inc/libbase/k60/hardware.h
@@ -2,18 +2,20 @@
  * hardware.h
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
 
 #if defined(MK60DZ10)
 #include "libbase/k60/cmsis/mk60dz10.h"
-#include "libbase/k60/cmsis/system_mk60dz10.h"
 
 #elif defined(MK60D10)
 #include "libbase/k60/cmsis/mk60d10.h"
-#include "libbase/k60/cmsis/system_mk60dz10.h"
+
+#elif defined(MK60F15)
+#include "libbase/k60/cmsis/mk60f15.h"
 
 #else
 #error Unknown MCU
diff --git a/inc/libbase/k60/i2c_master_interface.h b/inc/libbase/k60/i2c_master_interface.h
index 150e108..22d747b 100755
--- a/inc/libbase/k60/i2c_master_interface.h
+++ b/inc/libbase/k60/i2c_master_interface.h
@@ -2,7 +2,8 @@
  * i2c_master_interface.h
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
@@ -27,6 +28,7 @@ class I2cMasterInterface
 	{
 		Pin::Name scl_pin;
 		Pin::Name sda_pin;
+		uint16_t scl_low_timeout = UINT16_MAX;
 	};
 
 	virtual ~I2cMasterInterface()
@@ -34,7 +36,8 @@ class I2cMasterInterface
 
 	virtual operator bool() const = 0;
 
-	virtual bool GetByte(const Byte slave_addr, const Byte reg_addr, Byte *out_byte)  = 0;
+	virtual bool GetByte(const Byte slave_addr, const Byte reg_addr,
+			Byte *out_byte)  = 0;
 	virtual std::vector<Byte> GetBytes(const Byte slave_addr,
 			const Byte reg_addr, const uint8_t size) = 0;
 	virtual bool SendByte(const Byte slave_addr, const Byte reg_addr,
diff --git a/inc/libbase/k60/mcg.h b/inc/libbase/k60/mcg.h
index e0f3b38..26a8c61 100755
--- a/inc/libbase/k60/mcg.h
+++ b/inc/libbase/k60/mcg.h
@@ -2,7 +2,8 @@
  * mcg.h
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
@@ -21,6 +22,8 @@ class Mcg
 public:
 	struct Config
 	{
+		Config();
+
 		uint32_t external_oscillator_khz;
 		uint32_t core_clock_khz;
 		uint32_t bus_clock_khz;
@@ -28,23 +31,36 @@ class Mcg
 		uint32_t flash_clock_khz;
 	};
 
-	static void Init();
+	static Mcg& Get()
+	{
+		static Mcg inst;
+		return inst;
+	}
 
-	static uint32_t GetCoreClock()
+	void Init();
+
+	uint32_t GetCoreClock()
 	{
 		return m_core_clock;
 	}
 
 private:
-	__attribute__((__weak__))
+	Mcg();
+
+	/**
+	 * Get the Config object used during initialization, to be implemented by
+	 * user
+	 *
+	 * @return
+	 */
 	static Config GetMcgConfig();
 
-	static void InitFbe(const Config &config);
-	static void InitPbe(const Config &config, const uint8_t vdiv);
-	static void InitPee(const Config &config);
-	static void InitClocks(const Config &config, const uint32_t core_clock);
+	void InitFbe(const Config &config);
+	void InitPbe(const Config &config, const uint8_t vdiv);
+	void InitPee(const Config &config);
+	void InitClocks(const Config &config, const uint32_t core_clock);
 
-	static uint32_t m_core_clock;
+	uint32_t m_core_clock;
 };
 
 }
diff --git a/inc/libbase/k60/mcg_c.h b/inc/libbase/k60/mcg_c.h
index 370e56e..43499f6 100755
--- a/inc/libbase/k60/mcg_c.h
+++ b/inc/libbase/k60/mcg_c.h
@@ -2,7 +2,8 @@
  * mcg_c.h
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
@@ -13,8 +14,8 @@
 extern "C" {
 #endif
 
-void LibbaseK60McgInit();
-uint32_t LibbaseK60McgGetCoreClock();
+void LibbaseK60McgInit(void);
+uint32_t LibbaseK60McgGetCoreClock(void);
 
 #ifdef __cplusplus
 }
diff --git a/inc/libbase/k60/misc_utils.h b/inc/libbase/k60/misc_utils.h
index a060503..d255749 100755
--- a/inc/libbase/k60/misc_utils.h
+++ b/inc/libbase/k60/misc_utils.h
@@ -2,7 +2,8 @@
  * misc_utils.h
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
diff --git a/inc/libbase/k60/misc_utils_c.h b/inc/libbase/k60/misc_utils_c.h
index 47a3f60..594b307 100755
--- a/inc/libbase/k60/misc_utils_c.h
+++ b/inc/libbase/k60/misc_utils_c.h
@@ -3,7 +3,8 @@
  * Subset of misc utils that could be used with plain C
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
diff --git a/inc/libbase/k60/pin.h b/inc/libbase/k60/pin.h
index 40f1772..c081b52 100755
--- a/inc/libbase/k60/pin.h
+++ b/inc/libbase/k60/pin.h
@@ -2,7 +2,8 @@
  * pin.h
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
diff --git a/inc/libbase/k60/pin_isr_manager.h b/inc/libbase/k60/pin_isr_manager.h
index 5a98110..13daeee 100755
--- a/inc/libbase/k60/pin_isr_manager.h
+++ b/inc/libbase/k60/pin_isr_manager.h
@@ -3,7 +3,8 @@
  * Manage ISR for pins
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
@@ -34,7 +35,7 @@ class PinIsrManager
 private:
 	struct PinData
 	{
-		libbase::k60::Pin *pin = nullptr;
+		Pin *pin = nullptr;
 		OnPinIrqListener isr = nullptr;
 	};
 
diff --git a/inc/libbase/k60/pin_utils.h b/inc/libbase/k60/pin_utils.h
index 0f40c46..2d78c60 100755
--- a/inc/libbase/k60/pin_utils.h
+++ b/inc/libbase/k60/pin_utils.h
@@ -2,7 +2,8 @@
  * pin_utils.h
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
diff --git a/inc/libbase/k60/pinout.h b/inc/libbase/k60/pinout.h
index 8bcd517..799bc67 100755
--- a/inc/libbase/k60/pinout.h
+++ b/inc/libbase/k60/pinout.h
@@ -2,7 +2,8 @@
  * pinout.h
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
@@ -11,6 +12,10 @@
 #include "libbase/k60/pinout/mk60d10_lqfp144.h"
 #define PINOUT libbase::k60::Mk60d10Lqfp144
 
+#elif defined(MK60F15)
+#include "libbase/k60/pinout/mk60f15_lqfp144.h"
+#define PINOUT libbase::k60::Mk60f15Lqfp144
+
 #else
 #error Unknown MCU
 
diff --git a/inc/libbase/k60/pinout/mk60d10_lqfp144.h b/inc/libbase/k60/pinout/mk60d10_lqfp144.h
old mode 100755
new mode 100644
index 0439df1..d56a386
--- a/inc/libbase/k60/pinout/mk60d10_lqfp144.h
+++ b/inc/libbase/k60/pinout/mk60d10_lqfp144.h
@@ -9,7 +9,8 @@
  * MK60DN512VMD10
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
@@ -18,6 +19,7 @@
 
 #include "libbase/k60/adc.h"
 #include "libbase/k60/dac.h"
+#include "libbase/k60/ftm.h"
 #include "libbase/k60/misc_utils.h"
 #include "libbase/k60/pin.h"
 
@@ -31,52 +33,57 @@ class Mk60d10Lqfp144
 public:
 	static bool RegPin(const Uint pin)
 	{
-		return GetInstance()->RegPin_(pin);
+		return Get().RegPin_(pin);
 	}
 
 	static bool RegPin(const Pin::Name pin)
 	{
-		return GetInstance()->RegPin_(pin);
+		return Get().RegPin_(pin);
 	}
 
 	static bool RegPin(const Adc::Name pin)
 	{
-		return GetInstance()->RegPin_(pin);
+		return Get().RegPin_(pin);
 	}
 
 	static bool RegPin(const Dac::Name pin)
 	{
-		return GetInstance()->RegPin_(pin);
+		return Get().RegPin_(pin);
 	}
 
 	static void UnregPin(const Uint pin)
 	{
-		GetInstance()->UnregPin_(pin);
+		Get().UnregPin_(pin);
 	}
 
 	static void UnregPin(const Pin::Name pin)
 	{
-		GetInstance()->UnregPin_(pin);
+		Get().UnregPin_(pin);
 	}
 
 	static void UnregPin(const Adc::Name pin)
 	{
-		GetInstance()->UnregPin_(pin);
+		Get().UnregPin_(pin);
 	}
 
 	static void UnregPin(const Dac::Name pin)
 	{
-		GetInstance()->UnregPin_(pin);
+		Get().UnregPin_(pin);
+	}
+
+	static constexpr Uint GetAdcCount()
+	{
+		return PINOUT_ADC_COUNT;
 	}
 
 	static constexpr Uint GetFtmCount()
 	{
-		return 3;
+		return PINOUT_FTM_COUNT;
 	}
 
 	static constexpr Uint GetFtmChannelCount()
 	{
-		return 8;
+		return PINOUT_FTM_CHANNEL_COUNT;
 	}
 
 	static constexpr Uint GetPinCount()
@@ -86,36 +93,39 @@ class Mk60d10Lqfp144
 
 	static constexpr Uint GetPortCount()
 	{
-		return 5;
+		return PINOUT_PORT_COUNT;
 	}
 
 	static constexpr Uint GetPortPinCount()
 	{
-		return 32;
+		return PINOUT_PORT_PIN_COUNT;
 	}
 
 	static constexpr Uint GetSpiCount()
 	{
-		return 3;
+		return PINOUT_SPI_COUNT;
 	}
 
 	static constexpr Uint GetUartCount()
 	{
-		return 6;
+		return PINOUT_UART_COUNT;
 	}
 
+	static Adc::Name GetAdc(const Pin::Name pin);
+	static Ftm::Name GetFtm(const Pin::Name pin);
+	static Pin::Config::MuxControl GetFtmMux(const Pin::Name pin);
+	static Ftm::QdName GetFtmQd(const Pin::Name pin);
+	static Pin::Config::MuxControl GetFtmQdMux(const Pin::Name pin);
+
 private:
-	static constexpr Uint kPinCount = 144;
+	static constexpr Uint kPinCount = PINOUT_PIN_COUNT;
 
 	Mk60d10Lqfp144();
 
-	static Mk60d10Lqfp144* GetInstance()
+	static Mk60d10Lqfp144& Get()
 	{
-		if (!m_instance)
-		{
-			m_instance = new Mk60d10Lqfp144;
-		}
-		return m_instance;
+		static Mk60d10Lqfp144 inst;
+		return inst;
 	}
 
 	bool RegPin_(const Uint pin);
@@ -128,8 +138,6 @@ class Mk60d10Lqfp144
 	void UnregPin_(const Dac::Name pin);
 
 	std::bitset<kPinCount> m_is_pins_active;
-
-	static Mk60d10Lqfp144 *m_instance;
 };
 
 }
diff --git a/inc/libbase/k60/pinout/mk60d10_lqfp144_macros.h b/inc/libbase/k60/pinout/mk60d10_lqfp144_macros.h
new file mode 100644
index 0000000..9d3cc9e
--- /dev/null
+++ b/inc/libbase/k60/pinout/mk60d10_lqfp144_macros.h
@@ -0,0 +1,20 @@
+/*
+ * mk60d10_lqfp144_macros.h
+ *
+ * Author: Ming Tsang
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
+ */
+
+#pragma once
+
+// These macros are here to support conditional inclution only, DO NOT use
+// directly
+#define PINOUT_PIN_COUNT 144
+#define PINOUT_ADC_COUNT 2
+#define PINOUT_FTM_COUNT 3
+#define PINOUT_FTM_CHANNEL_COUNT 8
+#define PINOUT_PORT_COUNT 5
+#define PINOUT_PORT_PIN_COUNT 32
+#define PINOUT_SPI_COUNT 3
+#define PINOUT_UART_COUNT 6
diff --git a/inc/libbase/k60/pinout/mk60f15_lqfp144.h b/inc/libbase/k60/pinout/mk60f15_lqfp144.h
new file mode 100644
index 0000000..836db71
--- /dev/null
+++ b/inc/libbase/k60/pinout/mk60f15_lqfp144.h
@@ -0,0 +1,139 @@
+/*
+ * mk60f15_lqfp144.h
+ * Pinout for:
+ * MK60FX512VLQ15
+ *
+ * Author: Ming Tsang
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
+ */
+
+#pragma once
+
+#include <bitset>
+
+#include "libbase/k60/adc.h"
+#include "libbase/k60/dac.h"
+#include "libbase/k60/ftm.h"
+#include "libbase/k60/misc_utils.h"
+#include "libbase/k60/pin.h"
+
+namespace libbase
+{
+namespace k60
+{
+
+class Mk60f15Lqfp144
+{
+public:
+	static bool RegPin(const Uint pin)
+	{
+		return Get().RegPin_(pin);
+	}
+
+	static bool RegPin(const Pin::Name pin)
+	{
+		return Get().RegPin_(pin);
+	}
+
+	static bool RegPin(const Adc::Name pin)
+	{
+		return Get().RegPin_(pin);
+	}
+
+	static bool RegPin(const Dac::Name pin)
+	{
+		return Get().RegPin_(pin);
+	}
+
+	static void UnregPin(const Uint pin)
+	{
+		Get().UnregPin_(pin);
+	}
+
+	static void UnregPin(const Pin::Name pin)
+	{
+		Get().UnregPin_(pin);
+	}
+
+	static void UnregPin(const Adc::Name pin)
+	{
+		Get().UnregPin_(pin);
+	}
+
+	static void UnregPin(const Dac::Name pin)
+	{
+		Get().UnregPin_(pin);
+	}
+
+	static constexpr Uint GetAdcCount()
+	{
+		return PINOUT_ADC_COUNT;
+	}
+
+	static constexpr Uint GetFtmCount()
+	{
+		return PINOUT_FTM_COUNT;
+	}
+
+	static constexpr Uint GetFtmChannelCount()
+	{
+		return PINOUT_FTM_CHANNEL_COUNT;
+	}
+
+	static constexpr Uint GetPinCount()
+	{
+		return kPinCount;
+	}
+
+	static constexpr Uint GetPortCount()
+	{
+		return PINOUT_PORT_COUNT;
+	}
+
+	static constexpr Uint GetPortPinCount()
+	{
+		return PINOUT_PORT_PIN_COUNT;
+	}
+
+	static constexpr Uint GetSpiCount()
+	{
+		return PINOUT_SPI_COUNT;
+	}
+
+	static constexpr Uint GetUartCount()
+	{
+		return PINOUT_UART_COUNT;
+	}
+
+	static Adc::Name GetAdc(const Pin::Name pin);
+	static Ftm::Name GetFtm(const Pin::Name pin);
+	static Pin::Config::MuxControl GetFtmMux(const Pin::Name pin);
+	static Ftm::QdName GetFtmQd(const Pin::Name pin);
+	static Pin::Config::MuxControl GetFtmQdMux(const Pin::Name pin);
+
+private:
+	static constexpr Uint kPinCount = PINOUT_PIN_COUNT;
+
+	Mk60f15Lqfp144();
+
+	static Mk60f15Lqfp144& Get()
+	{
+		static Mk60f15Lqfp144 inst;
+		return inst;
+	}
+
+	bool RegPin_(const Uint pin);
+	bool RegPin_(const Pin::Name pin);
+	bool RegPin_(const Adc::Name pin);
+	bool RegPin_(const Dac::Name pin);
+	void UnregPin_(const Uint pin);
+	void UnregPin_(const Pin::Name pin);
+	void UnregPin_(const Adc::Name pin);
+	void UnregPin_(const Dac::Name pin);
+
+	std::bitset<kPinCount> m_is_pins_active;
+};
+
+}
+}
diff --git a/inc/libbase/k60/pinout/mk60f15_lqfp144_macros.h b/inc/libbase/k60/pinout/mk60f15_lqfp144_macros.h
new file mode 100644
index 0000000..1c3f1ea
--- /dev/null
+++ b/inc/libbase/k60/pinout/mk60f15_lqfp144_macros.h
@@ -0,0 +1,20 @@
+/*
+ * mk60f15_lqfp144_macros.h
+ *
+ * Author: Ming Tsang
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
+ */
+
+#pragma once
+
+// These macros are here to support conditional inclution only, DO NOT use
+// directly
+#define PINOUT_PIN_COUNT 144
+#define PINOUT_ADC_COUNT 4
+#define PINOUT_FTM_COUNT 4
+#define PINOUT_FTM_CHANNEL_COUNT 8
+#define PINOUT_PORT_COUNT 5
+#define PINOUT_PORT_PIN_COUNT 32
+#define PINOUT_SPI_COUNT 3
+#define PINOUT_UART_COUNT 6
diff --git a/inc/libbase/k60/pinout_macros.h b/inc/libbase/k60/pinout_macros.h
new file mode 100755
index 0000000..18b1dd4
--- /dev/null
+++ b/inc/libbase/k60/pinout_macros.h
@@ -0,0 +1,20 @@
+/*
+ * pinout_constants.h
+ *
+ * Author: Ming Tsang
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
+ */
+
+#pragma once
+
+#if defined(MK60DZ10) || defined(MK60D10)
+#include "libbase/k60/pinout/mk60d10_lqfp144_macros.h"
+
+#elif defined(MK60F15)
+#include "libbase/k60/pinout/mk60f15_lqfp144_macros.h"
+
+#else
+#error Unknown MCU
+
+#endif
diff --git a/inc/libbase/k60/pit.h b/inc/libbase/k60/pit.h
index 3e03283..de86c40 100755
--- a/inc/libbase/k60/pit.h
+++ b/inc/libbase/k60/pit.h
@@ -2,7 +2,8 @@
  * pit.h
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
diff --git a/inc/libbase/k60/pwm.h b/inc/libbase/k60/pwm.h
index 5206fa1..b51bc3d 100755
--- a/inc/libbase/k60/pwm.h
+++ b/inc/libbase/k60/pwm.h
@@ -2,7 +2,8 @@
  * pwm.h
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
@@ -24,7 +25,7 @@ class Pwm
 		enum struct Precision
 		{
 			kUs,
-			KNs,
+			kNs,
 		};
 
 		Pin::Name pin;
diff --git a/inc/libbase/k60/pwm_utils.h b/inc/libbase/k60/pwm_utils.h
index 16b363e..54f7a0e 100755
--- a/inc/libbase/k60/pwm_utils.h
+++ b/inc/libbase/k60/pwm_utils.h
@@ -2,7 +2,8 @@
  * pwm_utils.h
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
diff --git a/inc/libbase/k60/quad_decoder_interface.h b/inc/libbase/k60/quad_decoder_interface.h
index b1cc062..8220ff0 100755
--- a/inc/libbase/k60/quad_decoder_interface.h
+++ b/inc/libbase/k60/quad_decoder_interface.h
@@ -3,7 +3,8 @@
  * Generic quadrature decoder interface
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
diff --git a/inc/libbase/k60/rand_generator.h b/inc/libbase/k60/rand_generator.h
index 64dc34e..ea5fb00 100755
--- a/inc/libbase/k60/rand_generator.h
+++ b/inc/libbase/k60/rand_generator.h
@@ -3,7 +3,8 @@
  * Random Number Generator Accelerator
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
diff --git a/inc/libbase/k60/sim.h b/inc/libbase/k60/sim.h
old mode 100755
new mode 100644
index 9e7b39e..1eefa7f
--- a/inc/libbase/k60/sim.h
+++ b/inc/libbase/k60/sim.h
@@ -3,7 +3,8 @@
  * System integration module
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
@@ -34,6 +35,7 @@ class Sim
 		kK60
 	};
 
+#if MK60DZ10 || MK60D10
 	enum struct ClockGate
 	{
 		kAdc0,
@@ -67,6 +69,7 @@ class Sim
 		kPortC,
 		kPortD,
 		kPortE,
+		kRegFile,
 		kRng,
 		kRtc,
 		kSdhc,
@@ -85,6 +88,68 @@ class Sim
 		kVref,
 	};
 
+#elif MK60F15
+	enum struct ClockGate
+	{
+		kAdc0,
+		kAdc1,
+		kAdc2,
+		kAdc3,
+		kCmp,
+		kCmt,
+		kCrc,
+		kDac0,
+		kDac1,
+		kDma,
+		kDmaMux0,
+		kDmaMux1,
+		kDspi0,
+		kDspi1,
+		kDspi2,
+		kEsdhc,
+		kEthernet,
+		kExtWatchdog,
+		kFlexBus,
+		kFlexCan0,
+		kFlexCan1,
+		kFtm0,
+		kFtm1,
+		kFtm2,
+		kFtm3,
+		kIic0,
+		kIic1,
+		kLlwu,
+		kLptimer,
+		kMpu,
+		kNfc,
+		kOsc1,
+		kPdb,
+		kPit,
+		kPortA,
+		kPortB,
+		kPortC,
+		kPortD,
+		kPortE,
+		kPortF,
+		kRegFile,
+		kRng,
+		kRtc,
+		kSai0,
+		kSai1,
+		kTsi,
+		kUart0,
+		kUart1,
+		kUart2,
+		kUart3,
+		kUart4,
+		kUart5,
+		kUsbDcd,
+		kUsbFs,
+		kUsbHs,
+		kVref,
+	};
+#endif
+
 	static uint32_t GetRamBytes();
 	static Uint GetRamKBytes()
 	{
diff --git a/inc/libbase/k60/soft_i2c_master.h b/inc/libbase/k60/soft_i2c_master.h
index 0addde7..f33d40c 100755
--- a/inc/libbase/k60/soft_i2c_master.h
+++ b/inc/libbase/k60/soft_i2c_master.h
@@ -2,7 +2,8 @@
  * soft_i2c_master.h
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
@@ -57,10 +58,11 @@ class SoftI2cMaster : public I2cMasterInterface
 	void Start();
 	void Stop();
 	bool SendByte_(const Byte byte);
-	Byte ReadByte_(const bool is_ack);
+	bool ReadByte_(const bool is_ack, Byte *out_byte);
 
 	inline void Delay();
 
+	uint16_t m_scl_low_timeout;
 	uint32_t m_delay_us;
 
 	Gpio m_scl;
diff --git a/inc/libbase/k60/soft_pwm.h b/inc/libbase/k60/soft_pwm.h
index bbacb02..8d2fedb 100755
--- a/inc/libbase/k60/soft_pwm.h
+++ b/inc/libbase/k60/soft_pwm.h
@@ -3,7 +3,8 @@
  * Software emulated PWM using PIT and GPIO
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
diff --git a/inc/libbase/k60/soft_quad_decoder.h b/inc/libbase/k60/soft_quad_decoder.h
index f7ccb85..21a1f48 100755
--- a/inc/libbase/k60/soft_quad_decoder.h
+++ b/inc/libbase/k60/soft_quad_decoder.h
@@ -6,7 +6,8 @@
  * current count by 4 in software mode, so there will be a maximum of +-3 error
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
diff --git a/inc/libbase/k60/soft_spi_master.h b/inc/libbase/k60/soft_spi_master.h
index cbbc395..abfeab2 100755
--- a/inc/libbase/k60/soft_spi_master.h
+++ b/inc/libbase/k60/soft_spi_master.h
@@ -3,7 +3,8 @@
  * Emulated SPI through GPIO with a compatible interface with SpiMaster
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
diff --git a/inc/libbase/k60/spi_master.h b/inc/libbase/k60/spi_master.h
index ee56418..ed64f43 100755
--- a/inc/libbase/k60/spi_master.h
+++ b/inc/libbase/k60/spi_master.h
@@ -2,7 +2,8 @@
  * spi_master.h
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
diff --git a/inc/libbase/k60/spi_utils.h b/inc/libbase/k60/spi_utils.h
index b959296..ea8bc0f 100755
--- a/inc/libbase/k60/spi_utils.h
+++ b/inc/libbase/k60/spi_utils.h
@@ -2,7 +2,8 @@
  * spi_utils.h
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
diff --git a/inc/libbase/k60/sys_tick.h b/inc/libbase/k60/sys_tick.h
index 7850369..3460cce 100755
--- a/inc/libbase/k60/sys_tick.h
+++ b/inc/libbase/k60/sys_tick.h
@@ -2,7 +2,8 @@
  * sys_tick.h
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
diff --git a/inc/libbase/k60/uart.h b/inc/libbase/k60/uart.h
index 2623514..f67177a 100755
--- a/inc/libbase/k60/uart.h
+++ b/inc/libbase/k60/uart.h
@@ -2,7 +2,8 @@
  * uart.h
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
@@ -71,7 +72,7 @@ class Uart
 		bool is_tx_irq_threshold_percentage = false;
 
 		OnRxFullListener rx_isr;
-		/// The # bytes in the Tx buffer needed to fire the interrupt
+		/// The # bytes in the Rx buffer needed to fire the interrupt
 		uint8_t rx_irq_threshold = 1;
 		/// To treat rx_irq_threshold as a percentage of Rx buffer size
 		bool is_rx_irq_threshold_percentage = false;
diff --git a/inc/libbase/k60/vectors.h b/inc/libbase/k60/vectors.h
index c07e060..1704076 100755
--- a/inc/libbase/k60/vectors.h
+++ b/inc/libbase/k60/vectors.h
@@ -2,7 +2,8 @@
  * vectors.h
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 /* ###################################################################
 **     THIS COMPONENT MODULE IS GENERATED BY THE TOOL. DO NOT MODIFY IT.
@@ -37,15 +38,10 @@ extern "C" {
 #endif
 
 #include "libbase/k60/hardware.h"
-
 #include "libbase/k60/misc_utils_c.h"
 
-/* Interrupt vector table type definition */
+/* Interrupt handler type definition */
 typedef void (*tIsrFunc)(void);
-typedef struct {
-	void * __ptr;
-	tIsrFunc __fun[0x77];
-} tVectorTable;
 
 typedef void (*HardFaultHandler)(void);
 extern HardFaultHandler g_hard_fault_handler;
diff --git a/inc/libbase/k60/watchdog.h b/inc/libbase/k60/watchdog.h
index 888b616..83af2d8 100755
--- a/inc/libbase/k60/watchdog.h
+++ b/inc/libbase/k60/watchdog.h
@@ -2,7 +2,8 @@
  * watchdog.h
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
diff --git a/inc/libbase/k60/watchdog_c.h b/inc/libbase/k60/watchdog_c.h
index a31deae..69df545 100755
--- a/inc/libbase/k60/watchdog_c.h
+++ b/inc/libbase/k60/watchdog_c.h
@@ -2,7 +2,8 @@
  * watchdog_c.h
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
diff --git a/inc/libbase/log.h b/inc/libbase/log.h
index 268e454..c86a590 100755
--- a/inc/libbase/log.h
+++ b/inc/libbase/log.h
@@ -2,7 +2,8 @@
  * log.h
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
diff --git a/inc/libbase/misc_types.h b/inc/libbase/misc_types.h
index 8ec884a..c29632d 100755
--- a/inc/libbase/misc_types.h
+++ b/inc/libbase/misc_types.h
@@ -2,7 +2,8 @@
  * misc_types.h
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
diff --git a/inc/libbase/misc_utils.h b/inc/libbase/misc_utils.h
index 4a3b2b2..141f343 100755
--- a/inc/libbase/misc_utils.h
+++ b/inc/libbase/misc_utils.h
@@ -2,7 +2,8 @@
  * misc_utils.h
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
diff --git a/inc/libbase/misc_utils_c.h b/inc/libbase/misc_utils_c.h
index 0c4bd1d..11f6b00 100755
--- a/inc/libbase/misc_utils_c.h
+++ b/inc/libbase/misc_utils_c.h
@@ -3,7 +3,8 @@
  * Subset of misc utils that could be used with plain C
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
diff --git a/inc/libbase/syscall.h b/inc/libbase/syscall.h
index e17f1bc..049a3d4 100755
--- a/inc/libbase/syscall.h
+++ b/inc/libbase/syscall.h
@@ -2,7 +2,8 @@
  * syscall.h
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
diff --git a/inc/libsc/config.h b/inc/libsc/config.h
index 0a7abaf..53d8e8d 100644
--- a/inc/libsc/config.h
+++ b/inc/libsc/config.h
@@ -3,7 +3,8 @@
  * To include the corresponding config file
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
@@ -35,6 +36,9 @@
 #elif defined(K60_2014_MAGNETIC)
 #include "libsc/k60/config/2014_magnetic.h"
 
+#elif defined(K60_VCAN_FX15DEV)
+#include "libsc/k60/config/vcan_fx15dev.h"
+
 #else
 #error Unknown board
 
diff --git a/inc/libsc/device_h/ds18b20.h b/inc/libsc/device_h/ds18b20.h
new file mode 100755
index 0000000..ed7e9ca
--- /dev/null
+++ b/inc/libsc/device_h/ds18b20.h
@@ -0,0 +1,13 @@
+/*
+ * ds18b20.h
+ *
+ * Author: Ming Tsang
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
+ */
+
+#pragma once
+
+#define DS18B20_CONVERT_T 0x44 // Convert T
+#define DS18B20_READ_SP 0xBE // Read Scratchpad
+#define DS18B20_SKIP 0xCC // Skip ROM
diff --git a/inc/libsc/device_h/mpu6050.h b/inc/libsc/device_h/mpu6050.h
index ea8ac0d..08a5874 100755
--- a/inc/libsc/device_h/mpu6050.h
+++ b/inc/libsc/device_h/mpu6050.h
@@ -2,7 +2,8 @@
  * mpu6050.h
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 /* ============================================
 I2Cdev device library code is placed under the MIT license
diff --git a/inc/libsc/device_h/st7735r.h b/inc/libsc/device_h/st7735r.h
new file mode 100755
index 0000000..3a491d3
--- /dev/null
+++ b/inc/libsc/device_h/st7735r.h
@@ -0,0 +1,33 @@
+/*
+ * st7735r.h
+ *
+ * Author: Ming Tsang
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
+ */
+
+#pragma once
+
+#define ST7735R_SWRESET 0x01 // Software Reset
+#define ST7735R_RDDID 0x04 // Read Display ID
+#define ST7735R_SLPIN 0x10 // Sleep In
+#define ST7735R_SLPOUT 0x11 // Sleep Out
+#define ST7735R_INVOFF 0x20 // Display Inversion Off
+#define ST7735R_INVON 0x21 // Display Inversion On
+#define ST7735R_DISPOFF 0x28 // Display Off
+#define ST7735R_DISPON 0x29 // Display On
+#define ST7735R_CASET 0x2A // Column Address Set
+#define ST7735R_RASET 0x2B // Row Address Set
+#define ST7735R_RAMWR 0x2C // Memory Write
+#define ST7735R_MADCTL 0x36 // Memory Data Access Control
+#define ST7735R_COLMOD 0x3A // Interface Pixel Format
+#define ST7735R_FRMCTRL1 0xB1 // Frame Rate Control (in normal mode)
+#define ST7735R_INVCTR 0xB4 // Display Inversion Control
+#define ST7735R_PWCTR1 0xC0 // Power Control 1
+#define ST7735R_PWCTR2 0xC1 // Power Control 2
+#define ST7735R_PWCTR3 0xC2 // Power Control 3 (in normal mode)
+#define ST7735R_PWCTR4 0xC3 // Power Control 4 (in idle/8-bit mode)
+#define ST7735R_PWCTR5 0xC4 // Power Control 5 (in partial mode)
+#define ST7735R_VMCTR1 0xC5 // VCOM Control 1
+#define ST7735R_GMCTRP1 0xE0 // Gamma (+ polarity) Correction Characteristics Setting
+#define ST7735R_GMCTRN1 0xE1 // Gamma (- polarity) Correction Characteristics Setting
diff --git a/inc/libsc/k60/ab_encoder.h b/inc/libsc/k60/ab_encoder.h
new file mode 100755
index 0000000..628b537
--- /dev/null
+++ b/inc/libsc/k60/ab_encoder.h
@@ -0,0 +1,40 @@
+/*
+ * ab_encoder.h
+ *
+ * Author: Ming Tsang
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
+ */
+
+#pragma once
+
+#include <cstdint>
+
+#include "libsc/config.h"
+#include "libsc/k60/encoder.h"
+
+namespace libsc
+{
+namespace k60
+{
+
+class AbEncoder : public Encoder
+{
+public:
+	typedef Encoder::Config Config;
+
+	explicit AbEncoder(const Config &config);
+
+protected:
+	struct Initializer : public Encoder::Initializer
+	{
+		explicit Initializer(const Config &config)
+				: Encoder::Initializer(config)
+		{}
+
+		QuadDecoder::Config GetQuadDecoderConfig() const override;
+	};
+};
+
+}
+}
diff --git a/inc/libsc/k60/alternate_motor.h b/inc/libsc/k60/alternate_motor.h
index ca8dd7f..d2ae7c6 100755
--- a/inc/libsc/k60/alternate_motor.h
+++ b/inc/libsc/k60/alternate_motor.h
@@ -2,7 +2,7 @@
  * alternate_motor.h
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
  * Refer to LICENSE for details
  */
 
@@ -27,7 +27,7 @@ class AlternateMotor : public Motor
 		uint8_t id;
 	};
 
-	AlternateMotor(const Config &config);
+	explicit AlternateMotor(const Config &config);
 
 private:
 	void OnSetPower(const uint16_t power) override;
diff --git a/inc/libsc/k60/ambient_light_sensor.h b/inc/libsc/k60/ambient_light_sensor.h
index 2271520..3d9b51a 100755
--- a/inc/libsc/k60/ambient_light_sensor.h
+++ b/inc/libsc/k60/ambient_light_sensor.h
@@ -3,7 +3,8 @@
  * LS1970
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
@@ -20,7 +21,12 @@ namespace k60
 class AmbientLightSensor
 {
 public:
-	explicit AmbientLightSensor(const uint8_t id);
+	struct Config
+	{
+		uint8_t id;
+	};
+
+	explicit AmbientLightSensor(const Config &config);
 
 	uint16_t GetLux();
 
diff --git a/inc/libsc/k60/battery_meter.h b/inc/libsc/k60/battery_meter.h
new file mode 100755
index 0000000..545642e
--- /dev/null
+++ b/inc/libsc/k60/battery_meter.h
@@ -0,0 +1,36 @@
+/*
+ * battery_meter.h
+ *
+ * Author: Ming Tsang
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
+ */
+
+#pragma once
+
+#include "libbase/k60/adc.h"
+
+namespace libsc
+{
+namespace k60
+{
+
+class BatteryMeter
+{
+public:
+	struct Config
+	{
+		float voltage_ratio;
+	};
+
+	explicit BatteryMeter(const Config &config);
+
+	float GetVoltage();
+
+private:
+	libbase::k60::Adc m_adc;
+	float m_voltage_ratio;
+};
+
+}
+}
diff --git a/inc/libsc/k60/button.h b/inc/libsc/k60/button.h
index 790d6a7..11ff8c2 100755
--- a/inc/libsc/k60/button.h
+++ b/inc/libsc/k60/button.h
@@ -2,7 +2,8 @@
  * button.h
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
@@ -19,7 +20,13 @@ namespace k60
 class Button
 {
 public:
-	explicit Button(const uint8_t id);
+	struct Config
+	{
+		uint8_t id;
+		bool is_active_low;
+	};
+
+	explicit Button(const Config &config);
 
 	bool IsDown() const;
 	bool IsUp() const
@@ -29,6 +36,7 @@ class Button
 
 private:
 	libbase::k60::Gpi m_pin;
+	bool m_is_active_low;
 };
 
 }
diff --git a/inc/libsc/k60/config/2013_ccd.h b/inc/libsc/k60/config/2013_ccd.h
index fa0d570..5c3ae2d 100644
--- a/inc/libsc/k60/config/2013_ccd.h
+++ b/inc/libsc/k60/config/2013_ccd.h
@@ -3,7 +3,8 @@
  * Config file for 2013 Gen 2/3 board
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #ifndef LIBSC_2013_CCD_H_
diff --git a/inc/libsc/k60/config/2013_gen2.h b/inc/libsc/k60/config/2013_gen2.h
index e63213e..d134e38 100644
--- a/inc/libsc/k60/config/2013_gen2.h
+++ b/inc/libsc/k60/config/2013_gen2.h
@@ -3,7 +3,8 @@
  * Config file for 2013 Gen 2/3 board
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #ifndef LIBSC_2013_GEN2_H_
diff --git a/inc/libsc/k60/config/2013_magnetic.h b/inc/libsc/k60/config/2013_magnetic.h
index 850fdf6..fa73800 100755
--- a/inc/libsc/k60/config/2013_magnetic.h
+++ b/inc/libsc/k60/config/2013_magnetic.h
@@ -3,7 +3,8 @@
  * Config file for 2013 Gen 2/3 board
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #ifndef LIBSC_2013_MAGNETIC_H_
diff --git a/inc/libsc/k60/config/2014.h b/inc/libsc/k60/config/2014.h
index 13f21ad..adba2d6 100755
--- a/inc/libsc/k60/config/2014.h
+++ b/inc/libsc/k60/config/2014.h
@@ -3,7 +3,8 @@
  * Config file for 2014 Gen 1 board
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #ifndef LIBSC_2014_H_
diff --git a/inc/libsc/k60/config/2014_camera.h b/inc/libsc/k60/config/2014_camera.h
index 134e092..449fe14 100644
--- a/inc/libsc/k60/config/2014_camera.h
+++ b/inc/libsc/k60/config/2014_camera.h
@@ -3,7 +3,8 @@
  * Config file for 2014 Gen 1 board (camera car)
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #ifndef LIBSC_2014_CAMERA_H_
@@ -14,79 +15,60 @@
  * define LIBSC_USE_UART to 2 when there are two UART devices connected. Comment
  * out the specific defines instead of defining them to 0 for unused devices
  */
-#define LIBSC_USE_UART 1
-// Support 2 encoders only when using FTM
-//#define LIBSC_USE_ENCODER 2
-//#define LIBSC_USE_ENCODER_FTM
+#define LIBSC_USE_BUTTON 1
+//#define LIBSC_USE_CAMERA 1
+#define LIBSC_USE_ENCODER 2
+#define LIBSC_USE_JOYSTICK 1
 #define LIBSC_USE_LCD 1
-#define LIBSC_USE_LCD_HW_SPI
 #define LIBSC_USE_LED 4
 #define LIBSC_USE_MOTOR 2
-#define LIBSC_USE_CAMERA 1
-#define LIBSC_USE_JOYSTICK 1
-#define LIBSC_USE_BUTTON 1
 #define LIBSC_USE_MPU6050 1
-#define LIBSC_USE_K60_ENCODERS 1
-
 #define LIBSC_USE_TEMPERATURE_SENSOR 0
-#define LIBSC_TEMPERATURE0 PTC2
+#define LIBSC_USE_UART 1
 
-#ifdef LIBSC_USE_ENCODER_FTM
-#define LIBSC_ENCODER0_OUT PTB0
-#define LIBSC_ENCODER0_VCC PTB1
-#define LIBSC_ENCODER1_OUT PTB18
-#define LIBSC_ENCODER1_VCC PTB19
+#define LIBSC_ACCELEROMETER_RX libbase::k60::Adc::Name::kAdc0Ad17
 
-#else
-#define LIBSC_ENCODER0 PTB18
+#define LIBSC_BATTERY_METER libbase::k60::Adc::Name::kAdc1Ad4B
 
-#endif
+#define LIBSC_BUTTON0 libbase::k60::Pin::Name::kPtc10
 
-#define LIBSC_LED0 PTE9
-#define LIBSC_LED1 PTE10
-#define LIBSC_LED2 PTE11
-#define LIBSC_LED3 PTE12
-#define LIBSC_MOTOR0_PWM PTD7
-#define LIBSC_MOTOR0_DIR PTE7
-#define LIBSC_MOTOR1_PWM PTD6
-#define LIBSC_MOTOR1_DIR PTE6
+//#define LIBSC_CAMERA_SDA PTB17
+//#define LIBSC_CAMERA_SCL PTB16
+//#define LIBSC_CAMERA_PCLK PTB2
+//#define LIBSC_CAMERA_HREF PTB7
+//#define LIBSC_CAMERA_VSYNC PTB4
+//#define LIBSC_CAMERA_DMA_SRC_ADDR PTD8
+//#define LIBSC_CAMERA_DMA_CH 0
 
-#define LIBSC_CAMERA_SDA PTB17
-#define LIBSC_CAMERA_SCL PTB16
-#define LIBSC_CAMERA_PCLK PTB2
-#define LIBSC_CAMERA_HREF PTB7
-#define LIBSC_CAMERA_VSYNC PTB4
-#define LIBSC_CAMERA_DMA_SRC_ADDR PTD8
-#define LIBSC_CAMERA_DMA_CH 0
+#define LIBSC_ENCODER0_QDA libbase::k60::Pin::Name::kPtb0
+#define LIBSC_ENCODER0_QDB libbase::k60::Pin::Name::kPtb1
+#define LIBSC_ENCODER1_QDA libbase::k60::Pin::Name::kPtb18
+#define LIBSC_ENCODER1_QDB libbase::k60::Pin::Name::kPtb19
 
-#ifdef LIBSC_USE_LCD_HW_SPI
-#define LIBSC_LCD_RST PTA13
-	#define LIBSC_LCD_DC PTA17
-	#define LIBSC_LCD_CS PTA14
-	// Connect SOUT pin with SDAT
-	#define LIBSC_LCD_MOSI PTA16
-	// MISO pin is not used (one way transfer) but is needed to get the SPI info
-	#define LIBSC_LCD_MISO PTA17
-	#define LIBSC_LCD_SCLK PTA15
-#else
-	#define LIBSC_LCD_RST PTA13
-	#define LIBSC_LCD_DC PTA17
-	#define LIBSC_LCD_CS PTA14
-	#define LIBSC_LCD_SDAT PTA16
-	#define LIBSC_LCD_SCLK PTA15
-#endif
+#define LIBSC_JOYSTICK0_UP libbase::k60::Pin::Name::kPtc6
+#define LIBSC_JOYSTICK0_DOWN libbase::k60::Pin::Name::kPtc5
+#define LIBSC_JOYSTICK0_LEFT libbase::k60::Pin::Name::kPtc8
+#define LIBSC_JOYSTICK0_RIGHT libbase::k60::Pin::Name::kPtc7
+#define LIBSC_JOYSTICK0_SELECT libbase::k60::Pin::Name::kPtc9
 
-#define LIBSC_VR ADC1_SE4b
+#define LIBSC_LCD_RST libbase::k60::Pin::Name::kPta13
+#define LIBSC_LCD_DC libbase::k60::Pin::Name::kPta17
+#define LIBSC_LCD_CS libbase::k60::Pin::Name::kPta14
+#define LIBSC_LCD_SDAT libbase::k60::Pin::Name::kPta16
+#define LIBSC_LCD_SCLK libbase::k60::Pin::Name::kPta15
 
-#define RXADC ADC0_SE17
+#define LIBSC_LED0 libbase::k60::Pin::Name::kPte9
+#define LIBSC_LED1 libbase::k60::Pin::Name::kPte10
+#define LIBSC_LED2 libbase::k60::Pin::Name::kPte11
+#define LIBSC_LED3 libbase::k60::Pin::Name::kPte12
 
+#define LIBSC_MOTOR0_PWM libbase::k60::Pin::Name::kPtd7
+#define LIBSC_MOTOR0_DIR libbase::k60::Pin::Name::kPte7
+#define LIBSC_MOTOR1_PWM libbase::k60::Pin::Name::kPtd6
+#define LIBSC_MOTOR1_DIR libbase::k60::Pin::Name::kPte6
 
-#define LIBSC_JOYSTICK0_UP PTC6
-#define LIBSC_JOYSTICK0_DOWN PTC5
-#define LIBSC_JOYSTICK0_LEFT PTC8
-#define LIBSC_JOYSTICK0_RIGHT PTC7
-#define LIBSC_JOYSTICK0_SELECT PTC9
+#define LIBSC_DIR_MOTOR_CW_LEVEL 0
 
-#define LIBSC_BUTTON0 PTC10
+#define LIBSC_TEMPERATURE0 libbase::k60::Pin::Name::kPtc2
 
 #endif /* LIBSC_2014_CAMERA_H_ */
diff --git a/inc/libsc/k60/config/2014_ccd.h b/inc/libsc/k60/config/2014_ccd.h
index 533b8dc..40183ea 100755
--- a/inc/libsc/k60/config/2014_ccd.h
+++ b/inc/libsc/k60/config/2014_ccd.h
@@ -3,7 +3,8 @@
  * Config file for 2014 CCD board
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
@@ -16,18 +17,17 @@
 #define LIBSC_USE_BUTTON 2
 #define LIBSC_USE_BUZZER 1
 #define LIBSC_USE_ENCODER 1
-//#define LIBSC_USE_SOFT_ENCODER
+//#define LIBSC_USE_SOFT_ENCODER 1
 #define LIBSC_USE_GYROSCOPE 1
 #define LIBSC_USE_JOYSTICK 1
 #define LIBSC_USE_LCD 1
-//#define LIBSC_USE_LCD_HW_SPI
 #define LIBSC_USE_LED 4
 #define LIBSC_USE_LIGHT_SENSOR 2
 #define LIBSC_USE_LINEAR_CCD 2
 #define LIBSC_NEGATE_LINEAR_CCD
 #define LIBSC_USE_MOTOR 1
 #define LIBSC_USE_SERVO 1
-//#define LIBSC_USE_SOFT_SERVO_PWM
+//#define LIBSC_USE_SOFT_SERVO_PWM 1
 #define LIBSC_USE_SWITCH 5
 #define LIBSC_USE_UART 1
 
@@ -50,19 +50,12 @@
 #define LIBSC_JOYSTICK0_RIGHT libbase::k60::Pin::Name::kPtc7
 #define LIBSC_JOYSTICK0_SELECT libbase::k60::Pin::Name::kPtc9
 
-#ifdef LIBSC_USE_LCD_HW_SPI
-	#define LIBSC_LCD_RST libbase::k60::Pin::Name::kPta13
-	#define LIBSC_LCD_DC libbase::k60::Pin::Name::kPta17
-	#define LIBSC_LCD_CS libbase::k60::Pin::Name::kPta14
-	#define LIBSC_LCD_SDAT libbase::k60::Pin::Name::kPta16
-	#define LIBSC_LCD_SCLK libbase::k60::Pin::Name::kPta15
-#else
-	#define LIBSC_LCD_RST libbase::k60::Pin::Name::kPta13
-	#define LIBSC_LCD_DC libbase::k60::Pin::Name::kPta17
-	#define LIBSC_LCD_CS libbase::k60::Pin::Name::kPta14
-	#define LIBSC_LCD_SDAT libbase::k60::Pin::Name::kPta16
-	#define LIBSC_LCD_SCLK libbase::k60::Pin::Name::kPta15
-#endif
+#define LIBSC_LCD_RST libbase::k60::Pin::Name::kPta13
+#define LIBSC_LCD_DC libbase::k60::Pin::Name::kPta17
+#define LIBSC_LCD_CS libbase::k60::Pin::Name::kPta14
+#define LIBSC_LCD_SDAT libbase::k60::Pin::Name::kPta16
+#define LIBSC_LCD_SCLK libbase::k60::Pin::Name::kPta15
+#define LIBSC_ST7735R_BGR_PANEL 1
 
 #define LIBSC_LED0 libbase::k60::Pin::Name::kPtd0
 #define LIBSC_LED1 libbase::k60::Pin::Name::kPtd1
diff --git a/inc/libsc/k60/config/2014_inno.h b/inc/libsc/k60/config/2014_inno.h
index bb1c666..6f48ea4 100755
--- a/inc/libsc/k60/config/2014_inno.h
+++ b/inc/libsc/k60/config/2014_inno.h
@@ -2,12 +2,13 @@
  * 2014_inno.h
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
  * Refer to LICENSE for details
  */
 
 #pragma once
 
+#define LIBSC_USE_BATTERY_METER 1
 #define LIBSC_USE_BUTTON 2
 //#define LIBSC_USE_BUZZER 1
 //#define LIBSC_USE_JOYSTICK 1
@@ -16,6 +17,8 @@
 #define LIBSC_USE_SERVO 1
 #define LIBSC_USE_UART 1
 
+#define LIBSC_BATTERY_METER libbase::k60::Adc::Name::kAdc1Ad17
+
 #define LIBSC_BUTTON0 libbase::k60::Pin::Name::kPtc0
 #define LIBSC_BUTTON1 libbase::k60::Pin::Name::kPtb23
 
@@ -42,3 +45,6 @@
 
 #define LIBSC_UART0_TX libbase::k60::Pin::Name::kPtd7
 #define LIBSC_UART0_RX libbase::k60::Pin::Name::kPtd6
+
+#define LIBSC_MPU6050_SCL libbase::k60::Pin::Name::kPtb0
+#define LIBSC_MPU6050_SDA libbase::k60::Pin::Name::kPtb1
diff --git a/inc/libsc/k60/config/2014_magnetic.h b/inc/libsc/k60/config/2014_magnetic.h
index 0afb318..29e8e41 100644
--- a/inc/libsc/k60/config/2014_magnetic.h
+++ b/inc/libsc/k60/config/2014_magnetic.h
@@ -3,7 +3,8 @@
  * Config file for 2014 Magnetic board
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #ifndef LIBSC_2014_MAGNETIC_H_
diff --git a/inc/libsc/k60/config/inno.h b/inc/libsc/k60/config/inno.h
index 529fc05..9ce391b 100644
--- a/inc/libsc/k60/config/inno.h
+++ b/inc/libsc/k60/config/inno.h
@@ -3,7 +3,8 @@
  * Config file for Innovation Carnival board
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
diff --git a/inc/libsc/k60/config/vcan_fx15dev.h b/inc/libsc/k60/config/vcan_fx15dev.h
new file mode 100755
index 0000000..1290e68
--- /dev/null
+++ b/inc/libsc/k60/config/vcan_fx15dev.h
@@ -0,0 +1,41 @@
+/*
+ * vcan_fx15dev.h
+ * Config file for the VCAN K60FX15 development board
+ *
+ * Author: Ming Tsang
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
+ */
+
+#pragma once
+
+#define LIBSC_USE_BUTTON 1
+#define LIBSC_USE_LCD 1
+#define LIBSC_USE_LCD_HW_SPI
+#define LIBSC_USE_LED 4
+#define LIBSC_USE_MOTOR 1
+#define LIBSC_USE_SERVO 1
+#define LIBSC_USE_UART 1
+
+#define LIBSC_BUTTON0 libbase::k60::Pin::Name::kPtd7
+
+#define LIBSC_LCD_RST libbase::k60::Pin::Name::kPta13
+#define LIBSC_LCD_DC libbase::k60::Pin::Name::kPta17
+#define LIBSC_LCD_CS libbase::k60::Pin::Name::kPta14
+#define LIBSC_LCD_SDAT libbase::k60::Pin::Name::kPta16
+#define LIBSC_LCD_SCLK libbase::k60::Pin::Name::kPta15
+
+#define LIBSC_LED0 libbase::k60::Pin::Name::kPtb20
+#define LIBSC_LED1 libbase::k60::Pin::Name::kPtb21
+#define LIBSC_LED2 libbase::k60::Pin::Name::kPtb22
+#define LIBSC_LED3 libbase::k60::Pin::Name::kPtb23
+
+#define LIBSC_MOTOR0_PWMA libbase::k60::Pin::Name::kPtc1
+#define LIBSC_MOTOR0_PWMB libbase::k60::Pin::Name::kPtc2
+#define LIBSC_MOTOR0_DEADTIME 1000
+#define LIBSC_ALTERNATE_MOTOR_CW_PWM 1
+
+#define LIBSC_SERVO0 libbase::k60::Pin::Name::kPtd0
+
+#define LIBSC_UART0_TX libbase::k60::Pin::Name::kPtd7
+#define LIBSC_UART0_RX libbase::k60::Pin::Name::kPtd6
diff --git a/inc/libsc/k60/delay.h b/inc/libsc/k60/delay.h
index e4a7e97..917ea7b 100755
--- a/inc/libsc/k60/delay.h
+++ b/inc/libsc/k60/delay.h
@@ -2,7 +2,8 @@
  * delay.h
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
diff --git a/inc/libsc/k60/dir_encoder.h b/inc/libsc/k60/dir_encoder.h
new file mode 100755
index 0000000..45a6304
--- /dev/null
+++ b/inc/libsc/k60/dir_encoder.h
@@ -0,0 +1,38 @@
+/*
+ * dir_encoder.h
+ *
+ * Author: Ming Tsang
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
+ */
+
+#pragma once
+
+#include "libsc/config.h"
+#include "libsc/k60/encoder.h"
+
+namespace libsc
+{
+namespace k60
+{
+
+class DirEncoder : public Encoder
+{
+public:
+	typedef Encoder::Config Config;
+
+	explicit DirEncoder(const Config &config);
+
+protected:
+	struct Initializer : public Encoder::Initializer
+	{
+		explicit Initializer(const Config &config)
+				: Encoder::Initializer(config)
+		{}
+
+		QuadDecoder::Config GetQuadDecoderConfig() const override;
+	};
+};
+
+}
+}
diff --git a/inc/libsc/k60/dir_motor.h b/inc/libsc/k60/dir_motor.h
index 3399cff..e5050c8 100755
--- a/inc/libsc/k60/dir_motor.h
+++ b/inc/libsc/k60/dir_motor.h
@@ -2,7 +2,7 @@
  * dir_motor.h
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
  * Refer to LICENSE for details
  */
 
@@ -28,7 +28,7 @@ class DirMotor : public Motor
 		uint8_t id;
 	};
 
-	DirMotor(const Config &config);
+	explicit DirMotor(const Config &config);
 
 private:
 	void OnSetPower(const uint16_t power) override;
diff --git a/inc/libsc/k60/temperature_sensor.h b/inc/libsc/k60/ds18b20.h
similarity index 63%
rename from inc/libsc/k60/temperature_sensor.h
rename to inc/libsc/k60/ds18b20.h
index 9a39c6b..fe009f7 100755
--- a/inc/libsc/k60/temperature_sensor.h
+++ b/inc/libsc/k60/ds18b20.h
@@ -1,9 +1,10 @@
 /*
- * temperature_sensor.h
- * DS18B20 temperature sensor
+ * ds18b20.h
+ * DS18B20 digital thermometer
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
@@ -17,10 +18,15 @@ namespace libsc
 namespace k60
 {
 
-class TemperatureSensor
+class Ds18b20
 {
 public:
-	explicit TemperatureSensor(const uint8_t id);
+	struct Config
+	{
+		uint8_t id;
+	};
+
+	explicit Ds18b20(const Config &config);
 
 	void UpdateTemperature();
 
diff --git a/inc/libsc/k60/dwt_delay.h b/inc/libsc/k60/dwt_delay.h
index abb62ac..b08a965 100755
--- a/inc/libsc/k60/dwt_delay.h
+++ b/inc/libsc/k60/dwt_delay.h
@@ -2,7 +2,8 @@
  * dwt_delay.h
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
diff --git a/inc/libsc/k60/encoder.h b/inc/libsc/k60/encoder.h
index c73e579..f0d684b 100644
--- a/inc/libsc/k60/encoder.h
+++ b/inc/libsc/k60/encoder.h
@@ -5,7 +5,8 @@
  * emulation will pose a large overhead to the system
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
@@ -26,7 +27,18 @@ namespace k60
 class Encoder
 {
 public:
-	explicit Encoder(const uint8_t id);
+#if LIBSC_USE_SOFT_ENCODER
+	typedef libbase::k60::SoftQuadDecoder QuadDecoder;
+
+#else
+	typedef libbase::k60::FtmQuadDecoder QuadDecoder;
+
+#endif // LIBSC_USE_SOFT_ENCODER
+
+	struct Config
+	{
+		uint8_t id;
+	};
 
 	void Update();
 
@@ -40,20 +52,28 @@ class Encoder
 		return m_count;
 	}
 
-private:
-	const uint8_t m_id;
+protected:
+	/**
+	 * Use to initialize the encoder in possibly a polymorphic way, notice that
+	 * Initializer::config is stored as a reference only
+	 */
+	struct Initializer
+	{
+		explicit Initializer(const Config &config)
+				: config(config)
+		{}
 
-	int32_t m_count;
+		virtual QuadDecoder::Config GetQuadDecoderConfig() const;
 
-#ifdef LIBSC_USE_ENCODER
-#ifdef LIBSC_USE_SOFT_ENCODER
-	libbase::k60::SoftQuadDecoder m_quad_decoder;
+		const Config &config;
+	};
 
-#else
-	libbase::k60::FtmQuadDecoder m_quad_decoder;
+	explicit Encoder(const Initializer &initializer);
 
-#endif // LIBSC_USE_SOFT_ENCODER
-#endif // LIBSC_USE_ENCODER
+private:
+	int32_t m_count;
+
+	QuadDecoder m_quad_decoder;
 };
 
 }
diff --git a/src/libsc/k60/ftdi_ft232r.h b/inc/libsc/k60/ftdi_ft232r.h
similarity index 84%
rename from src/libsc/k60/ftdi_ft232r.h
rename to inc/libsc/k60/ftdi_ft232r.h
index 8ad0852..71aa548 100755
--- a/src/libsc/k60/ftdi_ft232r.h
+++ b/inc/libsc/k60/ftdi_ft232r.h
@@ -3,7 +3,7 @@
  * Generic class for the FTDI FT232R USB UART IC
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
  * Refer to LICENSE for details
  */
 
diff --git a/inc/libsc/k60/futaba_s3010.h b/inc/libsc/k60/futaba_s3010.h
index 2670771..c548fe4 100755
--- a/inc/libsc/k60/futaba_s3010.h
+++ b/inc/libsc/k60/futaba_s3010.h
@@ -3,7 +3,8 @@
  * Futaba S3010 RC servo
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
@@ -20,7 +21,12 @@ namespace k60
 class FutabaS3010 : public Servo
 {
 public:
-	explicit FutabaS3010(const uint8_t id);
+	struct Config
+	{
+		uint8_t id;
+	};
+
+	explicit FutabaS3010(const Config &config);
 };
 
 }
diff --git a/inc/libsc/k60/gyroscope.h b/inc/libsc/k60/gyroscope.h
deleted file mode 100755
index c610e13..0000000
--- a/inc/libsc/k60/gyroscope.h
+++ /dev/null
@@ -1,50 +0,0 @@
-/*
- * gyroscope.h
- * Gyroscope
- *
- * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
- */
-
-#pragma once
-
-#include <cstdint>
-
-#include "libbase/k60/adc.h"
-
-namespace libsc
-{
-namespace k60
-{
-
-class Gyroscope
-{
-public:
-	Gyroscope();
-	explicit Gyroscope(const Uint avg_size);
-	~Gyroscope();
-
-	void Update();
-
-	uint16_t GetAngle() const
-	{
-		return m_current;
-	}
-
-	float GetAverageAngle() const
-	{
-		return m_avg;
-	}
-
-private:
-	libbase::k60::Adc m_pin;
-
-	uint16_t m_current;
-	float m_avg;
-	uint16_t *m_values;
-	Uint m_size;
-	Uint m_index;
-};
-
-}
-}
diff --git a/inc/libsc/k60/infra_red_sensor.h b/inc/libsc/k60/infra_red_sensor.h
index 0973d04..15076a3 100755
--- a/inc/libsc/k60/infra_red_sensor.h
+++ b/inc/libsc/k60/infra_red_sensor.h
@@ -3,7 +3,8 @@
  * Infra-red sensor
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
@@ -24,14 +25,19 @@ class InfraRedSensor
 public:
 	typedef std::function<void(const uint8_t id)> OnDetectListener;
 
-	InfraRedSensor(const uint8_t id, const OnDetectListener &listener);
-	explicit InfraRedSensor(const uint8_t id);
+	struct Config
+	{
+		uint8_t id;
+		OnDetectListener listener;
+	};
+
+	explicit InfraRedSensor(const Config &config);
 
 	bool IsDetected() const;
 
 private:
-	libbase::k60::Gpi m_pin;
 	OnDetectListener m_isr;
+	libbase::k60::Gpi m_pin;
 };
 
 }
diff --git a/inc/libsc/k60/joystick.h b/inc/libsc/k60/joystick.h
index 7fd4a86..f280901 100755
--- a/inc/libsc/k60/joystick.h
+++ b/inc/libsc/k60/joystick.h
@@ -1,9 +1,9 @@
 /*
  * joystick.h
- * Joystick
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
@@ -30,12 +30,19 @@ class Joystick
 		SELECT,
 	};
 
-	explicit Joystick(const uint8_t id);
+	struct Config
+	{
+		uint8_t id;
+		bool is_active_low;
+	};
+
+	explicit Joystick(const Config &config);
 
 	State GetState() const;
 
 private:
 	libbase::k60::Gpi m_pins[5];
+	bool m_is_active_low;
 };
 
 }
diff --git a/inc/libsc/k60/jy_mcu_bt_106.h b/inc/libsc/k60/jy_mcu_bt_106.h
index 3510a51..c65f8c1 100755
--- a/inc/libsc/k60/jy_mcu_bt_106.h
+++ b/inc/libsc/k60/jy_mcu_bt_106.h
@@ -3,7 +3,7 @@
  * JY-MCU BT Board v1.06
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
  * Refer to LICENSE for details
  */
 
@@ -23,17 +23,13 @@ namespace k60
 class JyMcuBt106 : public UartDevice
 {
 public:
-	JyMcuBt106(const uint8_t id,
-			const libbase::k60::Uart::Config::BaudRate baud_rate);
-
-protected:
-	class UartConfigBuilder : public UartDevice::UartConfigBuilder
+	struct Config
 	{
-	public:
-		using UartDevice::UartConfigBuilder::UartConfigBuilder;
-
-		virtual libbase::k60::Uart::Config Build() const override;
+		uint8_t id;
+		libbase::k60::Uart::Config::BaudRate baud_rate;
 	};
+
+	explicit JyMcuBt106(const Config &config);
 };
 
 }
diff --git a/inc/libsc/k60/lcd_console.h b/inc/libsc/k60/lcd_console.h
index 92413a4..ba91c10 100644
--- a/inc/libsc/k60/lcd_console.h
+++ b/inc/libsc/k60/lcd_console.h
@@ -3,7 +3,8 @@
  * Use the LCD screen as console
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
diff --git a/inc/libsc/k60/led.h b/inc/libsc/k60/led.h
index f219518..bc45a16 100644
--- a/inc/libsc/k60/led.h
+++ b/inc/libsc/k60/led.h
@@ -2,7 +2,8 @@
  * led.h
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
@@ -19,7 +20,12 @@ namespace k60
 class Led
 {
 public:
-	explicit Led(const uint8_t id);
+	struct Config
+	{
+		uint8_t id;
+	};
+
+	explicit Led(const Config &config);
 
 	void SetEnable(const bool flag);
 	void Switch();
diff --git a/inc/libsc/k60/light_sensor.h b/inc/libsc/k60/light_sensor.h
old mode 100755
new mode 100644
index e2ce074..60312f5
--- a/inc/libsc/k60/light_sensor.h
+++ b/inc/libsc/k60/light_sensor.h
@@ -1,9 +1,9 @@
 /*
  * light_sensor.h
- * Light sensor
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
@@ -22,16 +22,36 @@ namespace k60
 class LightSensor
 {
 public:
-	typedef std::function<void(const uint8_t id)> OnDetectListener;
-
-	LightSensor(const uint8_t id, const OnDetectListener &listener);
-	explicit LightSensor(const uint8_t id);
-
-	bool IsDetected() const;
+	typedef std::function<void(const uint8_t id)> Listener;
+
+	struct Config
+	{
+		enum struct Trigger
+		{
+			kBright,
+			kDark,
+			kBoth,
+		};
+
+		uint8_t id;
+		bool is_active_low;
+		Listener listener;
+		/// When to trigger the listener, ignored is @a listener is not set
+		Trigger listener_trigger;
+	};
+
+	explicit LightSensor(const Config &config);
+
+	bool IsBright() const;
+	bool IsDark() const
+	{
+		return !IsBright();
+	}
 
 private:
 	libbase::k60::Gpi m_pin;
-	OnDetectListener m_isr;
+	bool m_is_active_low;
+	Listener m_isr;
 };
 
 }
diff --git a/inc/libsc/k60/linear_ccd.h b/inc/libsc/k60/linear_ccd.h
index 37c7fb7..30d40ac 100644
--- a/inc/libsc/k60/linear_ccd.h
+++ b/inc/libsc/k60/linear_ccd.h
@@ -3,7 +3,8 @@
  * Linear CCD (for TSL1401CL)
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
diff --git a/inc/libsc/k60/motor.h b/inc/libsc/k60/motor.h
index b0827cc..9e2b689 100644
--- a/inc/libsc/k60/motor.h
+++ b/inc/libsc/k60/motor.h
@@ -2,7 +2,7 @@
  * motor.h
  *
  * Author: Harrison Ng, Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
  * Refer to LICENSE for details
  */
 
diff --git a/inc/libsc/k60/mpu6050.h b/inc/libsc/k60/mpu6050.h
new file mode 100644
index 0000000..65ef105
--- /dev/null
+++ b/inc/libsc/k60/mpu6050.h
@@ -0,0 +1,76 @@
+/*
+ * mpu6050.h
+ *
+ * Author: Harrison Ng, Ming Tsang
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
+ */
+
+#pragma once
+
+#include <cstdint>
+#include <array>
+
+#include "libbase/k60/soft_i2c_master.h"
+#include "libbase/misc_types.h"
+
+using namespace libbase::k60;
+
+namespace libsc
+{
+namespace k60
+{
+
+class Mpu6050
+{
+public:
+	struct Config
+	{
+		enum struct Range
+		{
+			kSmall = 0,
+			kMid,
+			kLarge,
+			kExtreme,
+		};
+
+		// kSmall -> kExtreme = ±250°/s, ±500°/s, ±1000°/s, ±2000°/s
+		Range gyro_range;
+		// kSmall -> kExtreme = ±2g, ±4g, ±8g, ±16g
+		Range accel_range;
+	};
+
+	explicit Mpu6050(const Config &config);
+
+	void Update();
+
+	const std::array<float, 3>& GetAccel()
+	{
+		return m_accel;
+	}
+
+	const std::array<float, 3>& GetOmega()
+	{
+		return m_omega;
+	}
+
+	float GetCelsius()
+	{
+		return m_temp;
+	}
+
+private:
+	float GetGyroScaleFactor();
+	float GetAccelScaleFactor();
+
+	libbase::k60::SoftI2cMaster m_i2c;
+	std::array<float, 3> m_accel;
+	std::array<float, 3> m_omega;
+	float m_temp;
+
+	Config::Range m_gyro_range;
+	Config::Range m_accel_range;
+};
+
+} /* namespace k60 */
+} /* namespace libsc */
diff --git a/inc/libsc/k60/pit_delay.h b/inc/libsc/k60/pit_delay.h
index 5e8510d..6fdf687 100755
--- a/inc/libsc/k60/pit_delay.h
+++ b/inc/libsc/k60/pit_delay.h
@@ -2,7 +2,8 @@
  * pit_delay.h
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
diff --git a/inc/libsc/k60/pit_timer.h b/inc/libsc/k60/pit_timer.h
index 424c891..8823d48 100755
--- a/inc/libsc/k60/pit_timer.h
+++ b/inc/libsc/k60/pit_timer.h
@@ -2,7 +2,8 @@
  * pit_timer.h
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
diff --git a/inc/libsc/k60/servo.h b/inc/libsc/k60/servo.h
index 48eaa2e..b37be67 100644
--- a/inc/libsc/k60/servo.h
+++ b/inc/libsc/k60/servo.h
@@ -3,7 +3,8 @@
  * RC servo
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
@@ -23,6 +24,19 @@ namespace k60
 class Servo
 {
 public:
+	struct Config
+	{
+		uint8_t id;
+		// The period of the PWM signal, in us
+		uint16_t period;
+		// The min pos width of the PWM signal, in us
+		uint16_t min_pos_width;
+		// The max pos width of the PWM signal, in us
+		uint16_t max_pos_width;
+	};
+
+	explicit Servo(const Config &config);
+
 	/**
 	 * Set the degree(the servo turn in CCW), [0, 180] * 10 (i.e., 84 => 8.4°)
 	 *
@@ -34,18 +48,6 @@ class Servo
 		return m_degree;
 	}
 
-protected:
-	/**
-	 * Construct a RC Servo
-	 *
-	 * @param id
-	 * @param period The period of the PWM signal, in us
-	 * @param pos_width_min The min pos width of the PWM signal, in us
-	 * @param pos_width_max The max pos width of the PWM signal, in us
-	 */
-	Servo(const uint8_t id, const uint16_t period, const uint16_t pos_width_min,
-			const uint16_t pos_width_max);
-
 private:
 	const uint16_t m_pos_width_min;
 	const uint16_t m_pos_width_diff;
diff --git a/inc/libsc/k60/simple_buzzer.h b/inc/libsc/k60/simple_buzzer.h
index 5fd3a61..b3e8114 100755
--- a/inc/libsc/k60/simple_buzzer.h
+++ b/inc/libsc/k60/simple_buzzer.h
@@ -3,7 +3,8 @@
  * Simple Buzzer
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
diff --git a/inc/libsc/k60/spi_device.h b/inc/libsc/k60/spi_device.h
deleted file mode 100755
index 36411b1..0000000
--- a/inc/libsc/k60/spi_device.h
+++ /dev/null
@@ -1,80 +0,0 @@
-/*
- * spi_device.h
- *
- * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
- */
-
-#pragma once
-
-#include <cstddef>
-#include <cstdint>
-
-#include <list>
-#include <memory>
-#include <string>
-#include <vector>
-
-#include "libbase/k60/misc_utils.h"
-#include "libbase/k60/spi_master.h"
-
-#include "libutil/dynamic_block_buffer.h"
-
-namespace libsc
-{
-namespace k60
-{
-
-class SpiDevice
-{
-public:
-	explicit SpiDevice(const libbase::k60::SpiMaster::Config &config);
-	explicit SpiDevice(nullptr_t);
-	SpiDevice(const SpiDevice&) = delete;
-	SpiDevice(SpiDevice &&rhs);
-	~SpiDevice();
-
-	/**
-	 * Send a buffer through SPI. A copy will be queued
-	 *
-	 * @param buf
-	 * @param len
-	 */
-	void SendBuffer(const Byte *buf, const size_t len);
-	void SendBuffer(const uint16_t *buf, const size_t len)
-	{
-		SendBuffer(reinterpret_cast<const Byte*>(buf), len * 2);
-	}
-	/**
-	 * Send a buffer through SPI. A moved copy will be queued
-	 *
-	 * @param buf
-	 * @param len
-	 */
-	void SendBuffer(std::unique_ptr<Byte[]> &&buf, const size_t len);
-	void SendBuffer(std::unique_ptr<uint16_t[]> &&buf, const size_t len)
-	{
-		SendBuffer(std::unique_ptr<Byte[]>(reinterpret_cast<Byte*>(buf.release())),
-				len * 2);
-	}
-	/**
-	 * Send a buffer through SPI. A moved copy will be queued
-	 *
-	 * @param buf
-	 */
-	void SendBuffer(std::vector<Byte> &&buf);
-
-private:
-	struct Buffer;
-
-	void OnTxFill(libbase::k60::SpiMaster *spi);
-	void OnRxDrain(libbase::k60::SpiMaster *spi);
-
-	//std::list<Buffer> m_rx_buf;
-	libutil::DynamicBlockBuffer m_tx_buf;
-
-	libbase::k60::SpiMaster m_spi;
-};
-
-}
-}
diff --git a/inc/libsc/k60/st7735r.h b/inc/libsc/k60/st7735r.h
index a67927e..879b57b 100644
--- a/inc/libsc/k60/st7735r.h
+++ b/inc/libsc/k60/st7735r.h
@@ -2,7 +2,8 @@
  * st7735r.h
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
@@ -21,13 +22,17 @@ namespace k60
 class St7735r
 {
 public:
+	struct Config
+	{
+		bool is_revert = false;
+	};
+
 	static constexpr uint8_t kW = 128;
 	static constexpr uint8_t kH = 160;
 	static constexpr uint8_t kFontW = 8;
 	static constexpr uint8_t kFontH = 16;
 
-	St7735r();
-	explicit St7735r(const bool is_revert);
+	explicit St7735r(const Config &config);
 
 	void Clear();
 	void Clear(const uint16_t color)
diff --git a/inc/libsc/k60/switch.h b/inc/libsc/k60/switch.h
index a510667..62d6437 100755
--- a/inc/libsc/k60/switch.h
+++ b/inc/libsc/k60/switch.h
@@ -1,9 +1,9 @@
 /*
  * switch.h
- * Switch
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
@@ -20,7 +20,14 @@ namespace k60
 class Switch
 {
 public:
-	explicit Switch(const uint8_t id);
+	struct Config
+	{
+		uint8_t id;
+		// on == active
+		bool is_active_low;
+	};
+
+	explicit Switch(const Config &config);
 
 	bool IsOn() const;
 	bool IsOff() const
@@ -30,6 +37,7 @@ class Switch
 
 private:
 	libbase::k60::Gpi m_pin;
+	bool m_is_active_low;
 };
 
 }
diff --git a/inc/libsc/k60/sys_tick_delay.h b/inc/libsc/k60/sys_tick_delay.h
index 6447c57..9d635f6 100755
--- a/inc/libsc/k60/sys_tick_delay.h
+++ b/inc/libsc/k60/sys_tick_delay.h
@@ -2,7 +2,8 @@
  * sys_tick_delay.h
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
diff --git a/inc/libsc/k60/sys_tick_timer.h b/inc/libsc/k60/sys_tick_timer.h
index 8b855d3..33fc4ba 100755
--- a/inc/libsc/k60/sys_tick_timer.h
+++ b/inc/libsc/k60/sys_tick_timer.h
@@ -2,7 +2,8 @@
  * sys_tick_timer.h
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
diff --git a/inc/libsc/k60/system.h b/inc/libsc/k60/system.h
index e8651d7..93f7ef0 100755
--- a/inc/libsc/k60/system.h
+++ b/inc/libsc/k60/system.h
@@ -2,7 +2,8 @@
  * system.h
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
diff --git a/inc/libsc/k60/timer.h b/inc/libsc/k60/timer.h
index c511b93..bdef09d 100644
--- a/inc/libsc/k60/timer.h
+++ b/inc/libsc/k60/timer.h
@@ -2,7 +2,8 @@
  * timer.h
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
diff --git a/inc/libsc/k60/tower_pro_mg995.h b/inc/libsc/k60/tower_pro_mg995.h
index 851cbb4..e7f38b4 100755
--- a/inc/libsc/k60/tower_pro_mg995.h
+++ b/inc/libsc/k60/tower_pro_mg995.h
@@ -3,7 +3,7 @@
  * TowerPro MG995 RC servo
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
  * Refer to LICENSE for details
  */
 
@@ -21,7 +21,12 @@ namespace k60
 class TowerProMg995 : public Servo
 {
 public:
-	explicit TowerProMg995(const uint8_t id);
+	struct Config
+	{
+		uint8_t id;
+	};
+
+	explicit TowerProMg995(const Config &config);
 };
 
 }
diff --git a/inc/libsc/k60/trs_d05.h b/inc/libsc/k60/trs_d05.h
index 4eb9c44..fba5904 100755
--- a/inc/libsc/k60/trs_d05.h
+++ b/inc/libsc/k60/trs_d05.h
@@ -3,7 +3,8 @@
  * TRS-D05 RC servo
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
@@ -20,7 +21,12 @@ namespace k60
 class TrsD05 : public Servo
 {
 public:
-	explicit TrsD05(const uint8_t id);
+	struct Config
+	{
+		uint8_t id;
+	};
+
+	explicit TrsD05(const Config &config);
 };
 
 }
diff --git a/inc/libsc/k60/uart_device.h b/inc/libsc/k60/uart_device.h
index 22d7503..85265e7 100644
--- a/inc/libsc/k60/uart_device.h
+++ b/inc/libsc/k60/uart_device.h
@@ -3,7 +3,7 @@
  * Generic class for UART devices, also handles Tx and Rx buffering
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
  * Refer to LICENSE for details
  */
 
@@ -12,12 +12,14 @@
 #include <cstddef>
 #include <cstdint>
 
+#include <bitset>
 #include <functional>
 #include <memory>
 #include <string>
 #include <vector>
 
 #include "libbase/k60/misc_utils.h"
+#include "libbase/k60/pin.h"
 #include "libbase/k60/uart.h"
 
 #include "libutil/dynamic_block_buffer.h"
@@ -33,8 +35,23 @@ class UartDevice
 	typedef std::function<void(const Byte *bytes,
 			const size_t size)> OnReceiveListener;
 
-	UartDevice(const uint8_t id,
-			const libbase::k60::Uart::Config::BaudRate baud_rate);
+	struct Config
+	{
+		uint8_t id;
+		libbase::k60::Uart::Config::BaudRate baud_rate;
+		/**
+		 * The # bytes in the Rx buffer needed to fire the interrupt. This will
+		 * affect how often new bytes are pushed to the internal buffer, or your
+		 * listener being triggered, depending on the config
+		 */
+		uint8_t rx_irq_threshold;
+		/// To treat rx_irq_threshold as a percentage of Rx buffer size
+		bool is_rx_irq_threshold_percentage = false;
+		std::bitset<libbase::k60::Pin::Config::ConfigBit::kSize> tx_config;
+		std::bitset<libbase::k60::Pin::Config::ConfigBit::kSize> rx_config;
+	};
+
+	explicit UartDevice(const Config &config);
 	virtual ~UartDevice();
 
 	/**
@@ -107,22 +124,6 @@ class UartDevice
 		m_uart.SetLoopMode(flag);
 	}
 
-protected:
-	class UartConfigBuilder
-	{
-	public:
-		UartConfigBuilder(const uint8_t id,
-				const libbase::k60::Uart::Config::BaudRate baud_rate,
-				UartDevice *uart);
-
-		virtual libbase::k60::Uart::Config Build() const;
-
-	private:
-		libbase::k60::Uart::Config m_config;
-	};
-
-	explicit UartDevice(const UartConfigBuilder &builder);
-
 private:
 	struct RxBuffer;
 
diff --git a/inc/libsc/lib_guard.h b/inc/libsc/lib_guard.h
index c665299..d70d311 100755
--- a/inc/libsc/lib_guard.h
+++ b/inc/libsc/lib_guard.h
@@ -3,7 +3,8 @@
  * Protect you from unmatched symbol and linked library
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
diff --git a/inc/libutil/dynamic_block_buffer.h b/inc/libutil/dynamic_block_buffer.h
index 0c44fcf..4f167a0 100755
--- a/inc/libutil/dynamic_block_buffer.h
+++ b/inc/libutil/dynamic_block_buffer.h
@@ -2,7 +2,8 @@
  * dynamic_block_buffer.h
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
diff --git a/inc/libutil/incremental_pid_controller.h b/inc/libutil/incremental_pid_controller.h
index 1bcba71..9177190 100755
--- a/inc/libutil/incremental_pid_controller.h
+++ b/inc/libutil/incremental_pid_controller.h
@@ -3,7 +3,7 @@
  * Generic incremental PID controller
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
  * Refer to LICENSE for details
  */
 
diff --git a/inc/libutil/incremental_pid_controller.tcc b/inc/libutil/incremental_pid_controller.tcc
index e9c1cab..4263260 100755
--- a/inc/libutil/incremental_pid_controller.tcc
+++ b/inc/libutil/incremental_pid_controller.tcc
@@ -3,7 +3,7 @@
  * Generic incremental PID controller
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
  * Refer to LICENSE for details
  */
 
diff --git a/inc/libutil/kalman_filter.h b/inc/libutil/kalman_filter.h
index e40119d..3fa3302 100755
--- a/inc/libutil/kalman_filter.h
+++ b/inc/libutil/kalman_filter.h
@@ -2,7 +2,8 @@
  * kalman_filter.h
  *
  * Author: Tommy Wong
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #pragma once
diff --git a/inc/libutil/looper.h b/inc/libutil/looper.h
new file mode 100755
index 0000000..70ac623
--- /dev/null
+++ b/inc/libutil/looper.h
@@ -0,0 +1,43 @@
+/*
+ * looper.h
+ * Handle main loop and periodically invoking callbacks
+ *
+ * Author: Ming Tsang
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
+ */
+
+#pragma once
+
+#include <functional>
+#include <list>
+
+#include "libsc/k60/timer.h"
+
+namespace libutil
+{
+
+class Looper
+{
+public:
+	typedef std::function<void(const libsc::k60::Timer::TimerInt request,
+			const libsc::k60::Timer::TimerInt actual)> Callback;
+
+	Looper();
+	~Looper();
+
+	void Loop();
+	void Break();
+
+	void RunAfter(const libsc::k60::Timer::TimerInt ms, const Callback &c);
+
+private:
+	struct RunnerState;
+
+	void Invoke();
+
+	std::list<RunnerState> m_states;
+	bool m_is_run;
+};
+
+}
diff --git a/inc/libutil/misc.h b/inc/libutil/misc.h
index dfde51c..c043cbd 100644
--- a/inc/libutil/misc.h
+++ b/inc/libutil/misc.h
@@ -3,7 +3,8 @@
  * Misc util
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #ifndef LIBUTIL_MISC_H_
diff --git a/inc/libutil/positional_pid_controller.h b/inc/libutil/positional_pid_controller.h
index bed9a5c..bb843a4 100755
--- a/inc/libutil/positional_pid_controller.h
+++ b/inc/libutil/positional_pid_controller.h
@@ -3,7 +3,7 @@
  * Generic poitional PID controller
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
  * Refer to LICENSE for details
  */
 
diff --git a/inc/libutil/positional_pid_controller.tcc b/inc/libutil/positional_pid_controller.tcc
index 30ddb90..ffc8cf9 100755
--- a/inc/libutil/positional_pid_controller.tcc
+++ b/inc/libutil/positional_pid_controller.tcc
@@ -3,7 +3,7 @@
  * Generic poitional PID controller
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
  * Refer to LICENSE for details
  */
 
diff --git a/inc/libutil/remote_var_manager.h b/inc/libutil/remote_var_manager.h
index 43072e5..9e4f974 100755
--- a/inc/libutil/remote_var_manager.h
+++ b/inc/libutil/remote_var_manager.h
@@ -2,7 +2,7 @@
  * remote_var_manager.h
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
  * Refer to LICENSE for details
  */
 
diff --git a/inc/libutil/string.h b/inc/libutil/string.h
index f2fcd32..ffc32fb 100755
--- a/inc/libutil/string.h
+++ b/inc/libutil/string.h
@@ -3,7 +3,8 @@
  * String utilities
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #ifndef LIBUTIL_STRING_H_
diff --git a/src/libbase/assert.c b/src/libbase/assert.c
index 9e0678f..c38f30f 100755
--- a/src/libbase/assert.c
+++ b/src/libbase/assert.c
@@ -2,7 +2,8 @@
  * assert.c
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #include <assert.h>
diff --git a/src/libbase/k60/adc.cpp b/src/libbase/k60/adc.cpp
index 9938c4f..3efd072 100755
--- a/src/libbase/k60/adc.cpp
+++ b/src/libbase/k60/adc.cpp
@@ -2,7 +2,8 @@
  * adc.cpp
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #include "libbase/k60/hardware.h"
@@ -30,8 +31,6 @@
 using namespace libutil;
 using namespace std;
 
-#define ADC_COUNT 2
-
 namespace libbase
 {
 namespace k60
@@ -40,9 +39,19 @@ namespace k60
 namespace
 {
 
-constexpr ADC_Type* MEM_MAPS[ADC_COUNT] = {ADC0, ADC1};
-
-Adc* g_instances[ADC_COUNT] = {};
+constexpr ADC_Type* MEM_MAPS[PINOUT::GetAdcCount()] =
+{
+	ADC0,
+	ADC1,
+#if PINOUT_ADC_COUNT > 2
+	ADC2,
+#endif
+#if PINOUT_ADC_COUNT > 3
+	ADC3,
+#endif
+};
+
+Adc* g_instances[PINOUT::GetAdcCount()] = {};
 
 Uint GetClockDivider(const Uint target_clock_khz)
 {
@@ -154,127 +163,8 @@ Adc& Adc::operator=(Adc &&rhs)
 
 bool Adc::InitModule(const Pin::Name pin)
 {
-	switch (pin)
-	{
-	case Pin::Name::kPta7:
-		m_name = Name::kAdc0Ad10;
-		return true;
-
-	case Pin::Name::kPta8:
-		m_name = Name::kAdc0Ad11;
-		return true;
-
-	case Pin::Name::kPta17:
-		m_name = Name::kAdc1Ad17;
-		return true;
-
-	case Pin::Name::kPtb0:
-		m_name = Name::kAdc0Ad8;
-		return true;
-
-	case Pin::Name::kPtb1:
-		m_name = Name::kAdc0Ad9;
-		return true;
-
-	case Pin::Name::kPtb2:
-		m_name = Name::kAdc0Ad12;
-		return true;
-
-	case Pin::Name::kPtb3:
-		m_name = Name::kAdc0Ad13;
-		return true;
-
-	case Pin::Name::kPtb4:
-		m_name = Name::kAdc1Ad10;
-		return true;
-
-	case Pin::Name::kPtb5:
-		m_name = Name::kAdc1Ad11;
-		return true;
-
-	case Pin::Name::kPtb6:
-		m_name = Name::kAdc1Ad12;
-		return true;
-
-	case Pin::Name::kPtb7:
-		m_name = Name::kAdc1Ad13;
-		return true;
-
-	case Pin::Name::kPtb10:
-		m_name = Name::kAdc1Ad14;
-		return true;
-
-	case Pin::Name::kPtb11:
-		m_name = Name::kAdc1Ad15;
-		return true;
-
-	case Pin::Name::kPtc0:
-		m_name = Name::kAdc0Ad14;
-		return true;
-
-	case Pin::Name::kPtc1:
-		m_name = Name::kAdc0Ad15;
-		return true;
-
-	case Pin::Name::kPtc2:
-		m_name = Name::kAdc0Ad4B;
-		return true;
-
-	case Pin::Name::kPtc8:
-		m_name = Name::kAdc1Ad4B;
-		return true;
-
-	case Pin::Name::kPtc9:
-		m_name = Name::kAdc1Ad5B;
-		return true;
-
-	case Pin::Name::kPtc10:
-		m_name = Name::kAdc1Ad6B;
-		return true;
-
-	case Pin::Name::kPtc11:
-		m_name = Name::kAdc1Ad7B;
-		return true;
-
-	case Pin::Name::kPtd1:
-		m_name = Name::kAdc0Ad5B;
-		return true;
-
-	case Pin::Name::kPtd5:
-		m_name = Name::kAdc0Ad6B;
-		return true;
-
-	case Pin::Name::kPtd6:
-		m_name = Name::kAdc0Ad7B;
-		return true;
-
-	case Pin::Name::kPte0:
-		m_name = Name::kAdc1Ad4A;
-		return true;
-
-	case Pin::Name::kPte1:
-		m_name = Name::kAdc1Ad5A;
-		return true;
-
-	case Pin::Name::kPte2:
-		m_name = Name::kAdc1Ad6A;
-		return true;
-
-	case Pin::Name::kPte3:
-		m_name = Name::kAdc1Ad7A;
-		return true;
-
-	case Pin::Name::kPte24:
-		m_name = Name::kAdc0Ad17;
-		return true;
-
-	case Pin::Name::kPte25:
-		m_name = Name::kAdc0Ad18;
-		return true;
-
-	default:
-		return false;
-	}
+	m_name = PINOUT::GetAdc(pin);
+	return (m_name != Adc::Name::kDisable);
 }
 
 bool Adc::InitModule(const Name adc)
@@ -487,6 +377,28 @@ uint16_t Adc::GetResult()
 	return result;
 }
 
+float Adc::GetResultF()
+{
+	// we can't predivide 3.3 and the resolution because the number is too small
+	// i.e., precision problem
+	const float multiplied = GetResult() * 3.3f;
+	switch (m_config.resolution)
+	{
+	case Config::Resolution::k8Bit:
+		return multiplied / 0x00FF;
+
+	case Config::Resolution::k10Bit:
+		return multiplied / 0x03FF;
+
+	case Config::Resolution::k12Bit:
+		return multiplied / 0x0FFF;
+
+	default:
+	case Config::Resolution::k16Bit:
+		return multiplied / 0xFFFF;
+	}
+}
+
 bool Adc::PeekResult(uint16_t *out_val)
 {
 	STATE_GUARD(Adc, false);
@@ -553,22 +465,53 @@ void Adc::EnableInterrupt()
 	const Uint module = AdcUtils::GetModule(m_name);
 
 	g_instances[module] = this;
-	SetIsr(EnumAdvance(ADC0_IRQn, module), IrqHandler);
-	EnableIrq(EnumAdvance(ADC0_IRQn, module));
+	if (module < 2)
+	{
+		SetIsr(EnumAdvance(ADC0_IRQn, module), IrqHandler);
+		EnableIrq(EnumAdvance(ADC0_IRQn, module));
+	}
+#if PINOUT_ADC_COUNT > 2
+	else if (module < 4)
+	{
+		SetIsr(EnumAdvance(ADC2_IRQn, module - 2), IrqHandler);
+		EnableIrq(EnumAdvance(ADC2_IRQn, module - 2));
+	}
+#endif
 	SET_BIT(MEM_MAPS[module]->SC1[0], ADC_SC1_AIEN_SHIFT);
 }
 
 void Adc::DisableInterrupt(const Uint module)
 {
 	CLEAR_BIT(MEM_MAPS[module]->SC1[0], ADC_SC1_AIEN_SHIFT);
-	DisableIrq(EnumAdvance(ADC0_IRQn, module));
-	SetIsr(EnumAdvance(ADC0_IRQn, module), nullptr);
+	if (module < 2)
+	{
+		DisableIrq(EnumAdvance(ADC0_IRQn, module));
+		SetIsr(EnumAdvance(ADC0_IRQn, module), nullptr);
+	}
+#if PINOUT_ADC_COUNT > 2
+	else if (module < 4)
+	{
+		DisableIrq(EnumAdvance(ADC2_IRQn, module - 2));
+		SetIsr(EnumAdvance(ADC2_IRQn, module - 2), nullptr);
+	}
+#endif
 	g_instances[module] = nullptr;
 }
 
 __ISR void Adc::IrqHandler()
 {
-	const Uint module = GetActiveIrq() - ADC0_IRQn;
+	Uint module = 0;
+	if (module < 2)
+	{
+		module = GetActiveIrq() - ADC0_IRQn;
+	}
+#if PINOUT_ADC_COUNT > 2
+	else if (module < 4)
+	{
+		module = GetActiveIrq() - ADC2_IRQn;
+	}
+#endif
+
 	Adc *const that = g_instances[module];
 	if (!that || !(*that))
 	{
diff --git a/src/libbase/k60/clock_utils.cpp b/src/libbase/k60/clock_utils.cpp
index 51053c2..a91e5e8 100755
--- a/src/libbase/k60/clock_utils.cpp
+++ b/src/libbase/k60/clock_utils.cpp
@@ -2,7 +2,8 @@
  * clock_utils.cpp
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #include "libbase/k60/hardware.h"
@@ -27,14 +28,14 @@ uint32_t GetBusClock_()
 			>> SIM_CLKDIV1_OUTDIV1_SHIFT) + 1;
 	const Uint bus_div = ((SIM->CLKDIV1 & SIM_CLKDIV1_OUTDIV2_MASK)
 			>> SIM_CLKDIV1_OUTDIV2_SHIFT) + 1;
-	return Mcg::GetCoreClock() * core_div / bus_div;
+	return Mcg::Get().GetCoreClock() * core_div / bus_div;
 }
 
 }
 
 uint32_t ClockUtils::GetCoreClock()
 {
-	return Mcg::GetCoreClock();
+	return Mcg::Get().GetCoreClock();
 }
 
 uint32_t ClockUtils::GetCoreClockKhz()
diff --git a/src/libbase/k60/cmsis/startup_mk60dz10.c b/src/libbase/k60/cmsis/startup.c
similarity index 96%
rename from src/libbase/k60/cmsis/startup_mk60dz10.c
rename to src/libbase/k60/cmsis/startup.c
index 5272faa..0e013ff 100755
--- a/src/libbase/k60/cmsis/startup_mk60dz10.c
+++ b/src/libbase/k60/cmsis/startup.c
@@ -10,7 +10,7 @@
 #include <string.h>
 #include <stdlib.h>
 
-#include "libbase/k60/cmsis/system_mk60dz10.h"
+#include "libbase/k60/cmsis/system.h"
 #include "libbase/k60/watchdog_c.h"
 #include "libbase/syscall.h"
 
@@ -181,20 +181,16 @@ void __thumb_startup(void)
 			"skip_sp:\n\t"
 			::"r"(addr));
 
-	//	zero-fill the .bss section
+	// zero-fill the .bss section
 	zero_fill_bss();
 	// SUPPORT_ROM_TO_RAM
 	__copy_rom_sections_to_ram();
 
 	SystemInit();
+	KeepSyscallSymbols();
 	__libc_init_array();
 
 	main();
-	while (1);
-}
-
-// Called in __libc_init_array()
-void _init(void)
-{
-	KeepSyscallSymbols();
+	while (1)
+	{}
 }
diff --git a/src/libbase/k60/cmsis/system_mk60dz10.c b/src/libbase/k60/cmsis/system.c
similarity index 80%
rename from src/libbase/k60/cmsis/system_mk60dz10.c
rename to src/libbase/k60/cmsis/system.c
index 3abf83b..53b4bbe 100755
--- a/src/libbase/k60/cmsis/system_mk60dz10.c
+++ b/src/libbase/k60/cmsis/system.c
@@ -1,9 +1,3 @@
-/*
- * system_mk60dz10.c
- *
- * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
- */
 /* ###################################################################
 **     THIS COMPONENT MODULE IS GENERATED BY THE TOOL. DO NOT MODIFY IT.
 **     Filename    : Cpu.c
@@ -32,15 +26,11 @@
 
 #include <stdint.h>
 
-#include "libbase/k60/cmsis/system_mk60dz10.h"
+#include "libbase/k60/cmsis/system.h"
+#include "libbase/k60/fpu_c.h"
 #include "libbase/k60/mcg_c.h"
 #include "libbase/k60/vectors.h"
 
-/**
- * XXX deprecated
- */
-int bus_clk_khz;
-
 /* Flash configuration field */
 __attribute__((__section__(".cfmconfig")))
 const uint8_t _cfm[0x10] =
@@ -82,12 +72,9 @@ const uint8_t _cfm[0x10] =
 void SystemInit(void)
 {
 	LibbaseK60McgInit();
-
-	const int core_div = ((SIM->CLKDIV1 & SIM_CLKDIV1_OUTDIV1_MASK)
-			>> SIM_CLKDIV1_OUTDIV1_SHIFT) + 1;
-	const int bus_div = ((SIM->CLKDIV1 & SIM_CLKDIV1_OUTDIV2_MASK)
-			>> SIM_CLKDIV1_OUTDIV2_SHIFT) + 1;
-	bus_clk_khz = LibbaseK60McgGetCoreClock() * core_div / bus_div / 1000;
+#if __FPU_USED
+	LibbaseK60FpuInit();
+#endif
 
 	InitVectorTable();
 }
diff --git a/src/libbase/k60/crc.cpp b/src/libbase/k60/crc.cpp
index 8e324dc..e65b32e 100755
--- a/src/libbase/k60/crc.cpp
+++ b/src/libbase/k60/crc.cpp
@@ -2,7 +2,8 @@
  * crc.cpp
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #include "libbase/k60/hardware.h"
diff --git a/src/libbase/k60/crc_utils.cpp b/src/libbase/k60/crc_utils.cpp
index f694c3f..ee58691 100755
--- a/src/libbase/k60/crc_utils.cpp
+++ b/src/libbase/k60/crc_utils.cpp
@@ -2,7 +2,8 @@
  * crc_utils.cpp
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #include <cstddef>
diff --git a/src/libbase/k60/dac.cpp b/src/libbase/k60/dac.cpp
index 78ae750..3661876 100755
--- a/src/libbase/k60/dac.cpp
+++ b/src/libbase/k60/dac.cpp
@@ -2,7 +2,8 @@
  * dac.cpp
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #include "libbase/k60/hardware.h"
diff --git a/src/libbase/k60/dwt.cpp b/src/libbase/k60/dwt.cpp
index fe8c959..28a2caf 100755
--- a/src/libbase/k60/dwt.cpp
+++ b/src/libbase/k60/dwt.cpp
@@ -2,7 +2,8 @@
  * dwt.cpp
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #include "libbase/k60/hardware.h"
diff --git a/src/libbase/k60/fpu.cpp b/src/libbase/k60/fpu.cpp
new file mode 100755
index 0000000..d72cd51
--- /dev/null
+++ b/src/libbase/k60/fpu.cpp
@@ -0,0 +1,91 @@
+/*
+ * fpu.cpp
+ *
+ * Author: Ming Tsang
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
+ */
+
+#include "libbase/k60/hardware.h"
+
+#include <cstdint>
+
+#include "libbase/k60/fpu.h"
+#include "libbase/k60/fpu_c.h"
+#include "libbase/k60/misc_utils.h"
+
+#define FPU_FPDSCR_RMode(x) (((x) << FPU_FPDSCR_RMode_Pos) & FPU_FPDSCR_RMode_Msk)
+
+namespace libbase
+{
+namespace k60
+{
+
+#if __FPU_PRESENT
+
+Fpu::Fpu()
+{}
+
+void Fpu::Init()
+{
+	const Config &config = GetFpuConfig();
+
+	// Enable full access to the FPU coprocessor
+	SCB->CPACR |= 0x00F00000;
+	InitFpccr(config);
+	InitFpdscr(config);
+}
+
+void Fpu::InitFpccr(const Config&)
+{
+	// ASPEN and LSPEN must not be modified at this stage
+	uint32_t reg = FPU->FPCCR & (FPU_FPCCR_ASPEN_Msk | FPU_FPCCR_LSPEN_Msk);
+	SET_BIT(reg, FPU_FPCCR_MONRDY_Pos);
+	SET_BIT(reg, FPU_FPCCR_BFRDY_Pos);
+	SET_BIT(reg, FPU_FPCCR_MMRDY_Pos);
+	SET_BIT(reg, FPU_FPCCR_HFRDY_Pos);
+	SET_BIT(reg, FPU_FPCCR_THREAD_Pos);
+	SET_BIT(reg, FPU_FPCCR_USER_Pos);
+	// enable lazy stacking
+	SET_BIT(reg, FPU_FPCCR_LSPACT_Pos);
+
+	FPU->FPCCR = reg;
+}
+
+void Fpu::InitFpdscr(const Config &config)
+{
+	uint32_t reg = 0;
+	if (config.is_default_nan)
+	{
+		SET_BIT(reg, FPU_FPDSCR_DN_Pos);
+	}
+	if (config.is_flush_to_zero)
+	{
+		SET_BIT(reg, FPU_FPDSCR_FZ_Pos);
+	}
+	reg |= FPU_FPDSCR_RMode((int)config.rounding_mode);
+
+	FPU->FPDSCR = reg;
+}
+
+__attribute__((__weak__))
+Fpu::Config Fpu::GetFpuConfig()
+{
+	// Just use the default config
+	return {};
+}
+
+#else
+void Fpu::Init() {}
+
+#endif
+
+}
+}
+
+void LibbaseK60FpuInit()
+{
+#if __FPU_PRESENT
+	libbase::k60::Fpu::Get().Init();
+#endif
+}
diff --git a/src/libbase/k60/ftm_pwm.cpp b/src/libbase/k60/ftm_pwm.cpp
index 553e287..daef8e1 100755
--- a/src/libbase/k60/ftm_pwm.cpp
+++ b/src/libbase/k60/ftm_pwm.cpp
@@ -2,7 +2,8 @@
  * ftm_pwm.cpp
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #include "libbase/k60/hardware.h"
@@ -34,7 +35,15 @@ namespace k60
 namespace
 {
 
-constexpr FTM_Type* MEM_MAPS[PINOUT::GetFtmCount()] = {FTM0, FTM1, FTM2};
+constexpr FTM_Type* MEM_MAPS[PINOUT::GetFtmCount()] =
+{
+	FTM0,
+	FTM1,
+	FTM2,
+#if PINOUT_FTM_COUNT > 3
+	FTM3,
+#endif
+};
 
 FtmPwm* g_instances[PINOUT::GetFtmCount()][PINOUT::GetFtmChannelCount()] = {};
 
@@ -71,7 +80,7 @@ void ModCalc::Calc(const uint32_t period, const Pwm::Config::Precision precision
 		ticks = ClockUtils::GetBusTickPerUs(period);
 		break;
 
-	case Pwm::Config::Precision::KNs:
+	case Pwm::Config::Precision::kNs:
 		ticks = ClockUtils::GetBusTickPerNs(period);
 		break;
 	}
@@ -116,7 +125,7 @@ void CvCalc::Calc(const uint32_t pos_width,
 		ticks = ClockUtils::GetBusTickPerUs(pos_width);
 		break;
 
-	case Pwm::Config::Precision::KNs:
+	case Pwm::Config::Precision::kNs:
 		ticks = ClockUtils::GetBusTickPerNs(pos_width);
 		break;
 	}
@@ -291,7 +300,7 @@ FtmPwm& FtmPwm::operator=(FtmPwm &&rhs)
 
 bool FtmPwm::InitModule(const Pin::Name pin)
 {
-	const Ftm::Name ftm = FtmUtils::GetFtmName(pin);
+	const Ftm::Name ftm = PINOUT::GetFtm(pin);
 	if (ftm == Ftm::Name::kDisable)
 	{
 		return false;
@@ -306,21 +315,7 @@ void FtmPwm::InitPin(const Pin::Name pin)
 {
 	Pin::Config config;
 	config.pin = pin;
-	if (((int)pin >= (int)Pin::Name::kPta0 && (int)pin <= (int)Pin::Name::kPta13)
-			|| (int)pin == (int)Pin::Name::kPtb0
-			|| (int)pin == (int)Pin::Name::kPtb1
-			|| (int)pin == (int)Pin::Name::kPtb18
-			|| (int)pin == (int)Pin::Name::kPtb19)
-	{
-		config.mux = Pin::Config::MuxControl::kAlt3;
-	}
-	else if (((int)pin >= (int)Pin::Name::kPtc1
-					&& (int)pin <= (int)Pin::Name::kPtc4)
-			|| ((int)pin >= (int)Pin::Name::kPtd4
-					&& (int)pin <= (int)Pin::Name::kPtd7))
-	{
-		config.mux = Pin::Config::MuxControl::kAlt4;
-	}
+	config.mux = PINOUT::GetFtmMux(pin);
 
 	m_pin = Pin(config);
 }
diff --git a/src/libbase/k60/ftm_quad_decoder.cpp b/src/libbase/k60/ftm_quad_decoder.cpp
index 315b4e4..48399f5 100755
--- a/src/libbase/k60/ftm_quad_decoder.cpp
+++ b/src/libbase/k60/ftm_quad_decoder.cpp
@@ -2,7 +2,8 @@
  * ftm_quad_decoder.cpp
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #include "libbase/k60/hardware.h"
@@ -123,13 +124,13 @@ FtmQuadDecoder& FtmQuadDecoder::operator=(FtmQuadDecoder &&rhs)
 
 bool FtmQuadDecoder::InitModule(const Pin::Name a_pin, const Pin::Name b_pin)
 {
-	const Ftm::Name a_ftm = FtmUtils::GetFtmName(a_pin);
+	const Ftm::QdName a_ftm = PINOUT::GetFtmQd(a_pin);
 	const int a_module = FtmUtils::GetFtmModule(a_ftm);
 
-	const Ftm::Name b_ftm = FtmUtils::GetFtmName(b_pin);
+	const Ftm::QdName b_ftm = PINOUT::GetFtmQd(b_pin);
 	const int b_module = FtmUtils::GetFtmModule(b_ftm);
 
-	if (a_module == b_module && a_ftm != Ftm::Name::kDisable)
+	if (a_module == b_module && a_ftm != Ftm::QdName::kDisable)
 	{
 		m_module = a_module;
 		return true;
@@ -144,12 +145,9 @@ void FtmQuadDecoder::InitPin(const Pin::Name a_pin, const Pin::Name b_pin)
 {
 	Pin::Config a_config, b_config;
 	a_config.pin = a_pin;
+	a_config.mux = PINOUT::GetFtmQdMux(a_pin);
 	b_config.pin = b_pin;
-
-	a_config.mux = (a_pin == Pin::Name::kPta12) ? Pin::Config::MuxControl::kAlt7
-			: Pin::Config::MuxControl::kAlt6;
-	b_config.mux = (b_pin == Pin::Name::kPta13) ? Pin::Config::MuxControl::kAlt7
-			: Pin::Config::MuxControl::kAlt6;
+	b_config.mux = PINOUT::GetFtmQdMux(b_pin);
 
 	m_a = Pin(a_config);
 	m_b = Pin(b_config);
diff --git a/src/libbase/k60/ftm_utils.cpp b/src/libbase/k60/ftm_utils.cpp
deleted file mode 100755
index d869e5b..0000000
--- a/src/libbase/k60/ftm_utils.cpp
+++ /dev/null
@@ -1,77 +0,0 @@
-/*
- * ftm_utils.cpp
- *
- * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
- */
-
-#include "libbase/k60/ftm.h"
-#include "libbase/k60/ftm_utils.h"
-#include "libbase/k60/pin.h"
-
-namespace libbase
-{
-namespace k60
-{
-
-Ftm::Name FtmUtils::GetFtmName(const Pin::Name pin)
-{
-	switch (pin)
-	{
-	case Pin::Name::kPta3:
-	case Pin::Name::kPtc1:
-		return Ftm::Name::kFtm0Ch0;
-
-	case Pin::Name::kPta4:
-	case Pin::Name::kPtc2:
-		return Ftm::Name::kFtm0Ch1;
-
-	case Pin::Name::kPta5:
-	case Pin::Name::kPtc3:
-		return Ftm::Name::kFtm0Ch2;
-
-	case Pin::Name::kPta6:
-	case Pin::Name::kPtc4:
-		return Ftm::Name::kFtm0Ch3;
-
-	case Pin::Name::kPta7:
-	case Pin::Name::kPtd4:
-		return Ftm::Name::kFtm0Ch4;
-
-	case Pin::Name::kPta0:
-	case Pin::Name::kPtd5:
-		return Ftm::Name::kFtm0Ch5;
-
-	case Pin::Name::kPta1:
-	case Pin::Name::kPtd6:
-		return Ftm::Name::kFtm0Ch6;
-
-	case Pin::Name::kPta2:
-	case Pin::Name::kPtd7:
-		return Ftm::Name::kFtm0Ch7;
-
-	case Pin::Name::kPta8:
-	case Pin::Name::kPta12:
-	case Pin::Name::kPtb0:
-		return Ftm::Name::kFtm1Ch0;
-
-	case Pin::Name::kPta9:
-	case Pin::Name::kPta13:
-	case Pin::Name::kPtb1:
-		return Ftm::Name::kFtm1Ch1;
-
-	case Pin::Name::kPta10:
-	case Pin::Name::kPtb18:
-		return Ftm::Name::kFtm2Ch0;
-
-	case Pin::Name::kPta11:
-	case Pin::Name::kPtb19:
-		return Ftm::Name::kFtm2Ch1;
-
-	default:
-		return Ftm::Name::kDisable;
-	}
-}
-
-}
-}
diff --git a/src/libbase/k60/gpio.cpp b/src/libbase/k60/gpio.cpp
index 099611d..047d07a 100755
--- a/src/libbase/k60/gpio.cpp
+++ b/src/libbase/k60/gpio.cpp
@@ -2,7 +2,8 @@
  * gpio.cpp
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #include "libbase/k60/hardware.h"
diff --git a/src/libbase/k60/mcg.cpp b/src/libbase/k60/mcg.cpp
index b5b711e..184abdf 100755
--- a/src/libbase/k60/mcg.cpp
+++ b/src/libbase/k60/mcg.cpp
@@ -2,7 +2,8 @@
  * mcg.cpp
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 /*
  * The FreeRTOS source code is licensed by a *modified* GNU General Public
@@ -67,9 +68,41 @@
 #define FLL_MAX_FREQ 39062
 #define FLL_MIN_FREQ 31250
 
-#define MAX_BUS_CLOCK 50000000
-#define MAX_FLEXBUS_CLOCK 50000000
-#define MAX_FLASH_CLOCK 25000000
+#if MK60DZ10
+	#define _MCG_C2_RANGE0 MCG_C2_RANGE
+	#define _MCG_C5_PRDIV0 MCG_C5_PRDIV
+	#define _MCG_C6_VDIV0 MCG_C6_VDIV
+	#define _MCG_S_LOCK0_SHIFT MCG_S_LOCK_SHIFT
+#else
+	#define _MCG_C2_RANGE0 MCG_C2_RANGE0
+	#define _MCG_C5_PRDIV0 MCG_C5_PRDIV0
+	#define _MCG_C6_VDIV0 MCG_C6_VDIV0
+	#define _MCG_S_LOCK0_SHIFT MCG_S_LOCK0_SHIFT
+#endif
+
+#if MK60DZ10 || MK60D10
+	#define PRDIV_MAX 0x18
+	#define VDIV_BASE 24
+	#define MIN_PLL_REF_KHZ 2000
+	#define MAX_PLL_REF_KHZ 4000
+#elif MK60F15
+	#define PRDIV_MAX 0x7
+	#define VDIV_BASE 16
+	#define MIN_PLL_REF_KHZ 8000
+	#define MAX_PLL_REF_KHZ 16000
+#endif
+
+#if MK60DZ10 || MK60D10
+	#define MAX_CORE_CLOCK 100000000
+	#define MAX_BUS_CLOCK 50000000
+	#define MAX_FLEXBUS_CLOCK 50000000
+	#define MAX_FLASH_CLOCK 25000000
+#elif MK60F15
+	#define MAX_CORE_CLOCK 150000000
+	#define MAX_BUS_CLOCK 75000000
+	#define MAX_FLEXBUS_CLOCK 50000000
+	#define MAX_FLASH_CLOCK 25000000
+#endif
 
 namespace libbase
 {
@@ -143,11 +176,22 @@ void PllDividerCalc::Calc(const uint32_t external_osc_khz,
 {
 	Uint best_prdiv = 0, best_vdiv = 0;
 	Uint min_diff = static_cast<Uint>(-1);
-	for (Uint i = 0; i <= 0x18; ++i)
+	for (Uint i = 0; i <= PRDIV_MAX; ++i)
 	{
+		const uint32_t pll_ref_khz = external_osc_khz / (i + 1);
+		if (pll_ref_khz < MIN_PLL_REF_KHZ || pll_ref_khz > MAX_PLL_REF_KHZ)
+		{
+			// PLL reference freq not valid
+			continue;
+		}
+
 		for (Uint j = 0; j <= 0x1F; ++j)
 		{
-			const uint32_t this_clock = external_osc_khz * (j + 24) / (i + 1);
+			uint32_t this_clock = external_osc_khz * (j + VDIV_BASE) / (i + 1);
+#if MK60F15
+			// K60 120/150 parts have an additional /2 at the output of VCO
+			this_clock >>= 1;
+#endif
 			const Uint this_diff = abs((int32_t)(this_clock - core_clock_khz));
 			if (this_diff < min_diff)
 			{
@@ -166,13 +210,26 @@ void PllDividerCalc::Calc(const uint32_t external_osc_khz,
 	m_prdiv = best_prdiv;
 	m_vdiv = best_vdiv;
 
-	m_core_clock = (uint64_t)(external_osc_khz * 1000) * (m_vdiv + 24)
+	m_core_clock = (uint64_t)(external_osc_khz * 1000) * (m_vdiv + VDIV_BASE)
 			/ (m_prdiv + 1);
+#if MK60F15
+	m_core_clock >>= 1;
+#endif
 }
 
 }
 
-uint32_t Mcg::m_core_clock = 0;
+Mcg::Config::Config()
+		: external_oscillator_khz(0),
+		  core_clock_khz(MAX_CORE_CLOCK / 1000),
+		  bus_clock_khz(MAX_BUS_CLOCK / 1000),
+		  flexbus_clock_khz(MAX_FLEXBUS_CLOCK / 1000),
+		  flash_clock_khz(MAX_FLEXBUS_CLOCK / 1000)
+{}
+
+Mcg::Mcg()
+		: m_core_clock(0)
+{}
 
 void Mcg::Init()
 {
@@ -186,7 +243,14 @@ void Mcg::Init()
 	InitClocks(config, calc.GetCoreClock());
 
 	// Then configure C5[PRDIV] to generate correct PLL reference frequency
-	MCG->C5 |= MCG_C5_PRDIV(calc.GetPrdiv());
+	MCG->C5 |= _MCG_C5_PRDIV0(calc.GetPrdiv());
+#if MK60F15
+	// Select PLL0 clock source
+	CLEAR_BIT(MCG->C11, MCG_C11_PLLCS_SHIFT);
+	// Select the external reference clock from OSC0 as the reference clock to
+	// the PLL
+	CLEAR_BIT(MCG->C5, MCG_C5_PLLREFSEL0_SHIFT);
+#endif
 
 	// Then, FBE must transition either directly to PBE mode or first through
 	// BLPE mode and then to PBE mode
@@ -201,7 +265,11 @@ void Mcg::Init()
 void Mcg::InitFbe(const Config &config)
 {
 	uint8_t c2_reg = 0;
-	c2_reg |= MCG_C2_RANGE(2);
+#if MK60F15
+	// Reset with a loss of OSC clock
+	SET_BIT(c2_reg, MCG_C2_LOCRE0_SHIFT);
+#endif
+	c2_reg |= _MCG_C2_RANGE0(2);
 	MCG->C2 = c2_reg;
 
 	uint8_t c1_reg = 0;
@@ -256,7 +324,7 @@ void Mcg::InitPbe(const Config&, const uint8_t vdiv)
 
 	uint8_t c6_reg = 0;
 	SET_BIT(c6_reg, MCG_C6_PLLS_SHIFT);
-	c6_reg |= MCG_C6_VDIV(vdiv);
+	c6_reg |= _MCG_C6_VDIV0(vdiv);
 	MCG->C6 = c6_reg;
 
 	// Clear C2[LP] to 0 here to switch to PBE mode
@@ -268,7 +336,7 @@ void Mcg::InitPbe(const Config&, const uint8_t vdiv)
 	{}
 
 	// Then loop until S[LOCK] is set, indicating that the PLL has acquired lock
-	while (!GET_BIT(MCG->S, MCG_S_LOCK_SHIFT))
+	while (!GET_BIT(MCG->S, _MCG_S_LOCK0_SHIFT))
 	{}
 }
 
@@ -322,22 +390,14 @@ void Mcg::InitClocks(const Config &config, const uint32_t core_clock)
 	}
 	assert(flash_div > 0);
 
-	uint32_t reg = 0;
-	reg |= SIM_CLKDIV1_OUTDIV2(std::min<Uint>(bus_div - 1, 0xF));
-	reg |= SIM_CLKDIV1_OUTDIV3(std::min<Uint>(flexbus_div - 1, 0xF));
-	reg |= SIM_CLKDIV1_OUTDIV4(std::min<Uint>(flash_div - 1, 0xF));
-	SIM->CLKDIV1 = reg;
-}
-
-__attribute__((__weak__)) Mcg::Config Mcg::GetMcgConfig()
-{
-	Mcg::Config config;
-	config.external_oscillator_khz = 50000;
-	config.core_clock_khz = 100000;
-	config.bus_clock_khz = 50000;
-	config.flexbus_clock_khz = 50000;
-	config.flash_clock_khz = 25000;
-	return config;
+//	uint32_t reg = 0;
+//	reg |= SIM_CLKDIV1_OUTDIV2(std::min<Uint>(bus_div - 1, 0xF));
+//	reg |= SIM_CLKDIV1_OUTDIV3(std::min<Uint>(flexbus_div - 1, 0xF));
+//	reg |= SIM_CLKDIV1_OUTDIV4(std::min<Uint>(flash_div - 1, 0xF));
+//	SIM->CLKDIV1 = reg;
+	SetSysDividers(0, std::min<Uint>(bus_div - 1, 0xF),
+			std::min<Uint>(flexbus_div - 1, 0xF),
+			std::min<Uint>(flash_div - 1, 0xF));
 }
 
 }
@@ -345,10 +405,10 @@ __attribute__((__weak__)) Mcg::Config Mcg::GetMcgConfig()
 
 void LibbaseK60McgInit()
 {
-	libbase::k60::Mcg::Init();
+	libbase::k60::Mcg::Get().Init();
 }
 
 uint32_t LibbaseK60McgGetCoreClock()
 {
-	return libbase::k60::Mcg::GetCoreClock();
+	return libbase::k60::Mcg::Get().GetCoreClock();
 }
diff --git a/src/libbase/k60/misc_utils.cpp b/src/libbase/k60/misc_utils.cpp
index e43e796..53622cb 100755
--- a/src/libbase/k60/misc_utils.cpp
+++ b/src/libbase/k60/misc_utils.cpp
@@ -2,7 +2,8 @@
  * misc_utils.cpp
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #include <cstdint>
diff --git a/src/libbase/k60/pin.cpp b/src/libbase/k60/pin.cpp
index b3b60bf..5aaeaec 100755
--- a/src/libbase/k60/pin.cpp
+++ b/src/libbase/k60/pin.cpp
@@ -2,7 +2,8 @@
  * pin.cpp
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #include "libbase/k60/hardware.h"
diff --git a/src/libbase/k60/pin_isr_manager.cpp b/src/libbase/k60/pin_isr_manager.cpp
index 57c4e13..ce1e894 100755
--- a/src/libbase/k60/pin_isr_manager.cpp
+++ b/src/libbase/k60/pin_isr_manager.cpp
@@ -3,7 +3,8 @@
  * Manage ISR for ports
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #include <cstring>
@@ -137,7 +138,7 @@ template<Uint port>
 __ISR void PinIsrManager::PortIrqHandler()
 {
 	PinData *pin_data = PinIsrManager::GetInstance()->m_pin_data[port];
-	for (int i = 0; i < PINOUT::GetPortPinCount(); ++i)
+	for (Uint i = 0; i < PINOUT::GetPortPinCount(); ++i)
 	{
 		const Pin::Name pin = PinUtils::GetPin(port, i);
 		if (Pin::IsInterruptRequested(pin))
diff --git a/src/libbase/k60/pinout/mk60d10_lqfp144.cpp b/src/libbase/k60/pinout/mk60d10_lqfp144.cpp
index 2b42444..a8af293 100755
--- a/src/libbase/k60/pinout/mk60d10_lqfp144.cpp
+++ b/src/libbase/k60/pinout/mk60d10_lqfp144.cpp
@@ -2,16 +2,21 @@
  * mk60d10_lqfp144.cpp
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #include <cassert>
 
 #include <bitset>
 
+#include "libbase/k60/pinout/mk60d10_lqfp144.h"
+
+#include "libbase/k60/adc.h"
+#include "libbase/k60/ftm.h"
 #include "libbase/k60/misc_utils.h"
 #include "libbase/k60/pin.h"
-#include "libbase/k60/pinout/mk60d10_lqfp144.h"
+#include "libbase/k60/pin_utils.h"
 
 namespace libbase
 {
@@ -250,8 +255,6 @@ int GetPinId(const Dac::Name pin)
 
 }
 
-Mk60d10Lqfp144 *Mk60d10Lqfp144::m_instance = nullptr;
-
 Mk60d10Lqfp144::Mk60d10Lqfp144()
 {}
 
@@ -315,5 +318,217 @@ void Mk60d10Lqfp144::UnregPin_(const Dac::Name pin)
 	UnregPin_((Uint)GetPinId(pin));
 }
 
+Adc::Name Mk60d10Lqfp144::GetAdc(const Pin::Name pin)
+{
+	switch (pin)
+	{
+	case Pin::Name::kPta7:
+		return Adc::Name::kAdc0Ad10;
+
+	case Pin::Name::kPta8:
+		return Adc::Name::kAdc0Ad11;
+
+	case Pin::Name::kPta17:
+		return Adc::Name::kAdc1Ad17;
+
+	case Pin::Name::kPtb0:
+		return Adc::Name::kAdc0Ad8;
+
+	case Pin::Name::kPtb1:
+		return Adc::Name::kAdc0Ad9;
+
+	case Pin::Name::kPtb2:
+		return Adc::Name::kAdc0Ad12;
+
+	case Pin::Name::kPtb3:
+		return Adc::Name::kAdc0Ad13;
+
+	case Pin::Name::kPtb4:
+		return Adc::Name::kAdc1Ad10;
+
+	case Pin::Name::kPtb5:
+		return Adc::Name::kAdc1Ad11;
+
+	case Pin::Name::kPtb6:
+		return Adc::Name::kAdc1Ad12;
+
+	case Pin::Name::kPtb7:
+		return Adc::Name::kAdc1Ad13;
+
+	case Pin::Name::kPtb10:
+		return Adc::Name::kAdc1Ad14;
+
+	case Pin::Name::kPtb11:
+		return Adc::Name::kAdc1Ad15;
+
+	case Pin::Name::kPtc0:
+		return Adc::Name::kAdc0Ad14;
+
+	case Pin::Name::kPtc1:
+		return Adc::Name::kAdc0Ad15;
+
+	case Pin::Name::kPtc2:
+		return Adc::Name::kAdc0Ad4B;
+
+	case Pin::Name::kPtc8:
+		return Adc::Name::kAdc1Ad4B;
+
+	case Pin::Name::kPtc9:
+		return Adc::Name::kAdc1Ad5B;
+
+	case Pin::Name::kPtc10:
+		return Adc::Name::kAdc1Ad6B;
+
+	case Pin::Name::kPtc11:
+		return Adc::Name::kAdc1Ad7B;
+
+	case Pin::Name::kPtd1:
+		return Adc::Name::kAdc0Ad5B;
+
+	case Pin::Name::kPtd5:
+		return Adc::Name::kAdc0Ad6B;
+
+	case Pin::Name::kPtd6:
+		return Adc::Name::kAdc0Ad7B;
+
+	case Pin::Name::kPte0:
+		return Adc::Name::kAdc1Ad4A;
+
+	case Pin::Name::kPte1:
+		return Adc::Name::kAdc1Ad5A;
+
+	case Pin::Name::kPte2:
+		return Adc::Name::kAdc1Ad6A;
+
+	case Pin::Name::kPte3:
+		return Adc::Name::kAdc1Ad7A;
+
+	case Pin::Name::kPte24:
+		return Adc::Name::kAdc0Ad17;
+
+	case Pin::Name::kPte25:
+		return Adc::Name::kAdc0Ad18;
+
+	default:
+		return Adc::Name::kDisable;
+	}
+}
+
+Ftm::Name Mk60d10Lqfp144::GetFtm(const Pin::Name pin)
+{
+	switch (pin)
+	{
+	case Pin::Name::kPta3:
+	case Pin::Name::kPtc1:
+		return Ftm::Name::kFtm0Ch0;
+
+	case Pin::Name::kPta4:
+	case Pin::Name::kPtc2:
+		return Ftm::Name::kFtm0Ch1;
+
+	case Pin::Name::kPta5:
+	case Pin::Name::kPtc3:
+		return Ftm::Name::kFtm0Ch2;
+
+	case Pin::Name::kPta6:
+	case Pin::Name::kPtc4:
+		return Ftm::Name::kFtm0Ch3;
+
+	case Pin::Name::kPta7:
+	case Pin::Name::kPtd4:
+		return Ftm::Name::kFtm0Ch4;
+
+	case Pin::Name::kPta0:
+	case Pin::Name::kPtd5:
+		return Ftm::Name::kFtm0Ch5;
+
+	case Pin::Name::kPta1:
+	case Pin::Name::kPtd6:
+		return Ftm::Name::kFtm0Ch6;
+
+	case Pin::Name::kPta2:
+	case Pin::Name::kPtd7:
+		return Ftm::Name::kFtm0Ch7;
+
+	case Pin::Name::kPta8:
+	case Pin::Name::kPta12:
+	case Pin::Name::kPtb0:
+		return Ftm::Name::kFtm1Ch0;
+
+	case Pin::Name::kPta9:
+	case Pin::Name::kPta13:
+	case Pin::Name::kPtb1:
+		return Ftm::Name::kFtm1Ch1;
+
+	case Pin::Name::kPta10:
+	case Pin::Name::kPtb18:
+		return Ftm::Name::kFtm2Ch0;
+
+	case Pin::Name::kPta11:
+	case Pin::Name::kPtb19:
+		return Ftm::Name::kFtm2Ch1;
+
+	default:
+		return Ftm::Name::kDisable;
+	}
+}
+
+Pin::Config::MuxControl Mk60d10Lqfp144::GetFtmMux(const Pin::Name pin)
+{
+	const Uint port = PinUtils::GetPort(pin);
+	switch (port)
+	{
+	case 0:
+	case 1:
+		return Pin::Config::MuxControl::kAlt3;
+
+	case 2:
+	case 3:
+		return Pin::Config::MuxControl::kAlt4;
+
+	default:
+		return Pin::Config::MuxControl::kGpio;
+	}
+}
+
+Ftm::QdName Mk60d10Lqfp144::GetFtmQd(const Pin::Name pin)
+{
+	switch (pin)
+	{
+	case Pin::Name::kPta8:
+	case Pin::Name::kPta12:
+	case Pin::Name::kPtb0:
+		return Ftm::QdName::kFtm1QdPha;
+
+	case Pin::Name::kPta9:
+	case Pin::Name::kPta13:
+	case Pin::Name::kPtb1:
+		return Ftm::QdName::kFtm1QdPhb;
+
+	case Pin::Name::kPta10:
+	case Pin::Name::kPtb18:
+		return Ftm::QdName::kFtm2QdPha;
+
+	case Pin::Name::kPta11:
+	case Pin::Name::kPtb19:
+		return Ftm::QdName::kFtm2QdPhb;
+
+	default:
+		return Ftm::QdName::kDisable;
+	}
+}
+
+Pin::Config::MuxControl Mk60d10Lqfp144::GetFtmQdMux(const Pin::Name pin)
+{
+	if (pin == Pin::Name::kPta12 || pin == Pin::Name::kPta13)
+	{
+		return Pin::Config::MuxControl::kAlt7;
+	}
+	else
+	{
+		return Pin::Config::MuxControl::kAlt6;
+	}
+}
+
 }
 }
diff --git a/src/libbase/k60/pinout/mk60f15_lqfp144.cpp b/src/libbase/k60/pinout/mk60f15_lqfp144.cpp
new file mode 100755
index 0000000..4783706
--- /dev/null
+++ b/src/libbase/k60/pinout/mk60f15_lqfp144.cpp
@@ -0,0 +1,702 @@
+/*
+ * mk60f15_lqfp144.cpp
+ *
+ * Author: Ming Tsang
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
+ */
+
+#include <cassert>
+
+#include <bitset>
+
+#include "libbase/k60/pinout/mk60f15_lqfp144.h"
+
+#include "libbase/k60/adc.h"
+#include "libbase/k60/ftm.h"
+#include "libbase/k60/misc_utils.h"
+#include "libbase/k60/pin.h"
+#include "libbase/k60/pin_utils.h"
+
+namespace libbase
+{
+namespace k60
+{
+
+namespace
+{
+
+int GetPinId(const Pin::Name pin)
+{
+	if ((Uint)pin <= (Uint)Pin::Name::kPta5)
+	{
+		return (Uint)pin - (Uint)Pin::Name::kPta0 + 49;
+	}
+	else if ((Uint)pin >= (Uint)Pin::Name::kPta6
+			&& (Uint)pin <= (Uint)Pin::Name::kPta17)
+	{
+		return (Uint)pin - (Uint)Pin::Name::kPta6 + 57;
+	}
+	else if (pin == Pin::Name::kPta18)
+	{
+		return 71;
+	}
+	else if (pin == Pin::Name::kPta19)
+	{
+		return 72;
+	}
+	else if ((Uint)pin >= (Uint)Pin::Name::kPta24
+			&& (Uint)pin <= (Uint)Pin::Name::kPta29)
+	{
+		return (Uint)pin - (Uint)Pin::Name::kPta24 + 74;
+	}
+	else if ((Uint)pin >= (Uint)Pin::Name::kPtb0
+			&& (Uint)pin <= (Uint)Pin::Name::kPtb11)
+	{
+		return (Uint)pin - (Uint)Pin::Name::kPtb0 + 80;
+	}
+	else if ((Uint)pin >= (Uint)Pin::Name::kPtb16
+			&& (Uint)pin <= (Uint)Pin::Name::kPtb23)
+	{
+		return (Uint)pin - (Uint)Pin::Name::kPtb16 + 94;
+	}
+	else if ((Uint)pin >= (Uint)Pin::Name::kPtc0
+			&& (Uint)pin <= (Uint)Pin::Name::kPtc3)
+	{
+		return (Uint)pin - (Uint)Pin::Name::kPtc0 + 102;
+	}
+	else if ((Uint)pin >= (Uint)Pin::Name::kPtc4
+			&& (Uint)pin <= (Uint)Pin::Name::kPtc15)
+	{
+		return (Uint)pin - (Uint)Pin::Name::kPtc4 + 108;
+	}
+	else if ((Uint)pin >= (Uint)Pin::Name::kPtc16
+			&& (Uint)pin <= (Uint)Pin::Name::kPtc19)
+	{
+		return (Uint)pin - (Uint)Pin::Name::kPtc16 + 122;
+	}
+	else if ((Uint)pin >= (Uint)Pin::Name::kPtd0
+			&& (Uint)pin <= (Uint)Pin::Name::kPtd6)
+	{
+		return (Uint)pin - (Uint)Pin::Name::kPtd0 + 126;
+	}
+	else if ((Uint)pin >= (Uint)Pin::Name::kPtd7
+			&& (Uint)pin <= (Uint)Pin::Name::kPtd15)
+	{
+		return (Uint)pin - (Uint)Pin::Name::kPtd7 + 135;
+	}
+	else if ((Uint)pin >= (Uint)Pin::Name::kPte0
+			&& (Uint)pin <= (Uint)Pin::Name::kPte3)
+	{
+		return (Uint)pin - (Uint)Pin::Name::kPte0 + 0;
+	}
+	else if ((Uint)pin >= (Uint)Pin::Name::kPte4
+			&& (Uint)pin <= (Uint)Pin::Name::kPte12)
+	{
+		return (Uint)pin - (Uint)Pin::Name::kPte4 + 6;
+	}
+	else if ((Uint)pin >= (Uint)Pin::Name::kPte24
+			&& (Uint)pin <= (Uint)Pin::Name::kPte28)
+	{
+		return (Uint)pin - (Uint)Pin::Name::kPte24 + 44;
+	}
+	else
+	{
+		assert(false);
+		return -1;
+	}
+}
+
+int GetPinId(const Adc::Name pin)
+{
+	if ((Uint)pin >= (Uint)Adc::Name::kAdc1Ad4A
+			&& (Uint)pin <= (Uint)Adc::Name::kAdc1Ad7A)
+	{
+		return (Uint)pin - (Uint)Adc::Name::kAdc1Ad4A;
+	}
+	else if (pin == Adc::Name::kAdc2Ad16)
+	{
+		return 10;
+	}
+	else if (pin == Adc::Name::kAdc2Ad17)
+	{
+		return 11;
+	}
+	else if (pin == Adc::Name::kAdc3Ad16)
+	{
+		return 13;
+	}
+	else if (pin == Adc::Name::kAdc3Ad17)
+	{
+		return 14;
+	}
+	else if (pin == Adc::Name::kAdc2DAd2|| pin == Adc::Name::kAdc2DAd0
+			|| pin == Adc::Name::kAdc3DAd3 || pin == Adc::Name::kAdc0DAd1)
+	{
+		return 22;
+	}
+	else if (pin == Adc::Name::kAdc3DAd2 || pin == Adc::Name::kAdc3DAd0
+			|| pin == Adc::Name::kAdc2DAd3 || pin == Adc::Name::kAdc1DAd1)
+	{
+		return 24;
+	}
+	else if (pin == Adc::Name::kAdc0DAd2 || pin == Adc::Name::kAdc0DAd0
+			|| pin == Adc::Name::kAdc1DAd3)
+	{
+		return 26;
+	}
+	else if (pin == Adc::Name::kAdc1DAd2 || pin == Adc::Name::kAdc1DAd0
+			|| pin == Adc::Name::kAdc0DAd3)
+	{
+		return 28;
+	}
+	else if (pin == Adc::Name::kAdc1Ad16 || pin == Adc::Name::kAdc0Ad22)
+	{
+		return 34;
+	}
+	else if (pin == Adc::Name::kAdc0Ad16 || pin == Adc::Name::kAdc0Ad21)
+	{
+		return 35;
+	}
+	else if (pin == Adc::Name::kAdc1Ad18)
+	{
+		return 36;
+	}
+	else if (pin == Adc::Name::kAdc0Ad23)
+	{
+		return 37;
+	}
+	else if (pin == Adc::Name::kAdc1Ad23)
+	{
+		return 38;
+	}
+	else if (pin == Adc::Name::kAdc0Ad17)
+	{
+		return 44;
+	}
+	else if (pin == Adc::Name::kAdc0Ad18)
+	{
+		return 45;
+	}
+	else if (pin == Adc::Name::kAdc3Ad5B)
+	{
+		return 46;
+	}
+	else if (pin == Adc::Name::kAdc3Ad4B)
+	{
+		return 47;
+	}
+	else if (pin == Adc::Name::kAdc3Ad7A)
+	{
+		return 48;
+	}
+	else if (pin == Adc::Name::kAdc3Ad6A)
+	{
+		return 57;
+	}
+	else if (pin == Adc::Name::kAdc0Ad10)
+	{
+		return 58;
+	}
+	else if (pin == Adc::Name::kAdc0Ad11)
+	{
+		return 59;
+	}
+	else if (pin == Adc::Name::kAdc3Ad5A)
+	{
+		return 60;
+	}
+	else if (pin == Adc::Name::kAdc3Ad4A)
+	{
+		return 61;
+	}
+	else if (pin == Adc::Name::kAdc3Ad15)
+	{
+		return 62;
+	}
+	else if (pin == Adc::Name::kAdc1Ad17)
+	{
+		return 68;
+	}
+	else if (pin == Adc::Name::kAdc2Ad15)
+	{
+		return 76;
+	}
+	else if (pin == Adc::Name::kAdc2Ad14)
+	{
+		return 77;
+	}
+	else if (pin == Adc::Name::kAdc2Ad13)
+	{
+		return 78;
+	}
+	else if (pin == Adc::Name::kAdc2Ad12)
+	{
+		return 79;
+	}
+	else if (pin == Adc::Name::kAdc0Ad8 || pin == Adc::Name::kAdc1Ad8
+			|| pin == Adc::Name::kAdc2Ad8 || pin == Adc::Name::kAdc3Ad8)
+	{
+		return 80;
+	}
+	else if (pin == Adc::Name::kAdc0Ad9 || pin == Adc::Name::kAdc1Ad9
+			|| pin == Adc::Name::kAdc2Ad9 || pin == Adc::Name::kAdc3Ad9)
+	{
+		return 81;
+	}
+	else if (pin == Adc::Name::kAdc0Ad12)
+	{
+		return 82;
+	}
+	else if (pin == Adc::Name::kAdc0Ad13)
+	{
+		return 83;
+	}
+	else if ((Uint)pin >= (Uint)Adc::Name::kAdc1Ad10
+			&& (Uint)pin <= (Uint)Adc::Name::kAdc1Ad13)
+	{
+		return (Uint)pin - (Uint)Adc::Name::kAdc1Ad10 + 84;
+	}
+	else if (pin == Adc::Name::kAdc1Ad14)
+	{
+		return 90;
+	}
+	else if (pin == Adc::Name::kAdc1Ad15)
+	{
+		return 91;
+	}
+	else if (pin == Adc::Name::kAdc2Ad4A)
+	{
+		return 98;
+	}
+	else if (pin == Adc::Name::kAdc2Ad5A)
+	{
+		return 99;
+	}
+	else if (pin == Adc::Name::kAdc0Ad14)
+	{
+		return 102;
+	}
+	else if (pin == Adc::Name::kAdc0Ad15)
+	{
+		return 103;
+	}
+	else if (pin == Adc::Name::kAdc0Ad4B)
+	{
+		return 104;
+	}
+	else if ((Uint)pin >= (Uint)Adc::Name::kAdc1Ad4B
+			&& (Uint)pin <= (Uint)Adc::Name::kAdc1Ad7B)
+	{
+		return (Uint)pin - (Uint)Adc::Name::kAdc1Ad4B + 112;
+	}
+	else if (pin == Adc::Name::kAdc0Ad5B)
+	{
+		return 127;
+	}
+	else if (pin == Adc::Name::kAdc0Ad6B)
+	{
+		return 131;
+	}
+	else if (pin == Adc::Name::kAdc0Ad7B)
+	{
+		return 132;
+	}
+	else
+	{
+		assert(false);
+		return -1;
+	}
+}
+
+int GetPinId(const Dac::Name pin)
+{
+	switch (pin)
+	{
+	case Dac::Name::kDac0:
+		return 37;
+
+	case Dac::Name::kDac1:
+		return 38;
+
+	default:
+		assert(false);
+		return -1;
+	}
+}
+
+}
+
+Mk60f15Lqfp144::Mk60f15Lqfp144()
+{}
+
+bool Mk60f15Lqfp144::RegPin_(const Uint pin)
+{
+	if (pin >= GetPinCount())
+	{
+		assert(false);
+		return false;
+	}
+
+	if (m_is_pins_active[pin])
+	{
+		return false;
+	}
+	else
+	{
+		m_is_pins_active[pin] = true;
+		return true;
+	}
+}
+
+bool Mk60f15Lqfp144::RegPin_(const Pin::Name pin)
+{
+	return RegPin_((Uint)GetPinId(pin));
+}
+
+bool Mk60f15Lqfp144::RegPin_(const Adc::Name pin)
+{
+	return RegPin_((Uint)GetPinId(pin));
+}
+
+bool Mk60f15Lqfp144::RegPin_(const Dac::Name pin)
+{
+	return RegPin_((Uint)GetPinId(pin));
+}
+
+void Mk60f15Lqfp144::UnregPin_(const Uint pin)
+{
+	if (pin >= GetPinCount())
+	{
+		assert(false);
+		return;
+	}
+
+	m_is_pins_active[pin] = false;
+}
+
+void Mk60f15Lqfp144::UnregPin_(const Pin::Name pin)
+{
+	UnregPin_((Uint)GetPinId(pin));
+}
+
+void Mk60f15Lqfp144::UnregPin_(const Adc::Name pin)
+{
+	UnregPin_((Uint)GetPinId(pin));
+}
+
+void Mk60f15Lqfp144::UnregPin_(const Dac::Name pin)
+{
+	UnregPin_((Uint)GetPinId(pin));
+}
+
+Adc::Name Mk60f15Lqfp144::GetAdc(const Pin::Name pin)
+{
+	switch (pin)
+	{
+	case Pin::Name::kPta6:
+		return Adc::Name::kAdc3Ad6A;
+
+	case Pin::Name::kPta7:
+		return Adc::Name::kAdc0Ad10;
+
+	case Pin::Name::kPta8:
+		return Adc::Name::kAdc0Ad11;
+
+	case Pin::Name::kPta9:
+		return Adc::Name::kAdc3Ad5A;
+
+	case Pin::Name::kPta10:
+		return Adc::Name::kAdc3Ad4A;
+
+	case Pin::Name::kPta11:
+		return Adc::Name::kAdc3Ad15;
+
+	case Pin::Name::kPta17:
+		return Adc::Name::kAdc1Ad17;
+
+	case Pin::Name::kPta26:
+		return Adc::Name::kAdc2Ad15;
+
+	case Pin::Name::kPta27:
+		return Adc::Name::kAdc2Ad14;
+
+	case Pin::Name::kPta28:
+		return Adc::Name::kAdc2Ad13;
+
+	case Pin::Name::kPta29:
+		return Adc::Name::kAdc2Ad12;
+
+	case Pin::Name::kPtb0:
+		return Adc::Name::kAdc0Ad8;
+
+	case Pin::Name::kPtb1:
+		return Adc::Name::kAdc0Ad9;
+
+	case Pin::Name::kPtb2:
+		return Adc::Name::kAdc0Ad12;
+
+	case Pin::Name::kPtb3:
+		return Adc::Name::kAdc0Ad13;
+
+	case Pin::Name::kPtb4:
+		return Adc::Name::kAdc1Ad10;
+
+	case Pin::Name::kPtb5:
+		return Adc::Name::kAdc1Ad11;
+
+	case Pin::Name::kPtb6:
+		return Adc::Name::kAdc1Ad12;
+
+	case Pin::Name::kPtb7:
+		return Adc::Name::kAdc1Ad13;
+
+	case Pin::Name::kPtb10:
+		return Adc::Name::kAdc1Ad14;
+
+	case Pin::Name::kPtb11:
+		return Adc::Name::kAdc1Ad15;
+
+	case Pin::Name::kPtb20:
+		return Adc::Name::kAdc2Ad4A;
+
+	case Pin::Name::kPtb21:
+		return Adc::Name::kAdc2Ad5A;
+
+	case Pin::Name::kPtc0:
+		return Adc::Name::kAdc0Ad14;
+
+	case Pin::Name::kPtc1:
+		return Adc::Name::kAdc0Ad15;
+
+	case Pin::Name::kPtc2:
+		return Adc::Name::kAdc0Ad4B;
+
+	case Pin::Name::kPtc8:
+		return Adc::Name::kAdc1Ad4B;
+
+	case Pin::Name::kPtc9:
+		return Adc::Name::kAdc1Ad5B;
+
+	case Pin::Name::kPtc10:
+		return Adc::Name::kAdc1Ad6B;
+
+	case Pin::Name::kPtc11:
+		return Adc::Name::kAdc1Ad7B;
+
+	case Pin::Name::kPtd1:
+		return Adc::Name::kAdc0Ad5B;
+
+	case Pin::Name::kPtd5:
+		return Adc::Name::kAdc0Ad6B;
+
+	case Pin::Name::kPtd6:
+		return Adc::Name::kAdc0Ad7B;
+
+	case Pin::Name::kPte0:
+		return Adc::Name::kAdc1Ad4A;
+
+	case Pin::Name::kPte1:
+		return Adc::Name::kAdc1Ad5A;
+
+	case Pin::Name::kPte2:
+		return Adc::Name::kAdc1Ad6A;
+
+	case Pin::Name::kPte3:
+		return Adc::Name::kAdc1Ad7A;
+
+	case Pin::Name::kPte8:
+		return Adc::Name::kAdc2Ad16;
+
+	case Pin::Name::kPte9:
+		return Adc::Name::kAdc2Ad17;
+
+	case Pin::Name::kPte11:
+		return Adc::Name::kAdc3Ad16;
+
+	case Pin::Name::kPte12:
+		return Adc::Name::kAdc3Ad17;
+
+	case Pin::Name::kPte24:
+		return Adc::Name::kAdc0Ad17;
+
+	case Pin::Name::kPte25:
+		return Adc::Name::kAdc0Ad18;
+
+	case Pin::Name::kPte26:
+		return Adc::Name::kAdc3Ad5B;
+
+	case Pin::Name::kPte27:
+		return Adc::Name::kAdc3Ad4B;
+
+	case Pin::Name::kPte28:
+		return Adc::Name::kAdc3Ad7A;
+
+	default:
+		return Adc::Name::kDisable;
+	}
+}
+
+Ftm::Name Mk60f15Lqfp144::GetFtm(const Pin::Name pin)
+{
+	switch (pin)
+	{
+	case Pin::Name::kPta3:
+	case Pin::Name::kPtc1:
+		return Ftm::Name::kFtm0Ch0;
+
+	case Pin::Name::kPta4:
+	case Pin::Name::kPtc2:
+		return Ftm::Name::kFtm0Ch1;
+
+	case Pin::Name::kPta5:
+	case Pin::Name::kPtc3:
+		return Ftm::Name::kFtm0Ch2;
+
+	case Pin::Name::kPta6:
+	case Pin::Name::kPtc4:
+		return Ftm::Name::kFtm0Ch3;
+
+	case Pin::Name::kPta7:
+	case Pin::Name::kPtd4:
+		return Ftm::Name::kFtm0Ch4;
+
+	case Pin::Name::kPta0:
+	case Pin::Name::kPtd5:
+		return Ftm::Name::kFtm0Ch5;
+
+	case Pin::Name::kPta1:
+	case Pin::Name::kPtd6:
+		return Ftm::Name::kFtm0Ch6;
+
+	case Pin::Name::kPta2:
+	case Pin::Name::kPtd7:
+		return Ftm::Name::kFtm0Ch7;
+
+	case Pin::Name::kPta8:
+	case Pin::Name::kPta12:
+	case Pin::Name::kPtb0:
+		return Ftm::Name::kFtm1Ch0;
+
+	case Pin::Name::kPta9:
+	case Pin::Name::kPta13:
+	case Pin::Name::kPtb1:
+		return Ftm::Name::kFtm1Ch1;
+
+	case Pin::Name::kPta10:
+	case Pin::Name::kPtb18:
+		return Ftm::Name::kFtm2Ch0;
+
+	case Pin::Name::kPta11:
+	case Pin::Name::kPtb19:
+		return Ftm::Name::kFtm2Ch1;
+
+	case Pin::Name::kPte5:
+	case Pin::Name::kPtd0:
+		return Ftm::Name::kFtm3Ch0;
+
+	case Pin::Name::kPte6:
+	case Pin::Name::kPtd1:
+		return Ftm::Name::kFtm3Ch1;
+
+	case Pin::Name::kPte7:
+	case Pin::Name::kPtd2:
+		return Ftm::Name::kFtm3Ch2;
+
+	case Pin::Name::kPte8:
+	case Pin::Name::kPtd3:
+		return Ftm::Name::kFtm3Ch3;
+
+	case Pin::Name::kPte9:
+	case Pin::Name::kPtc8:
+		return Ftm::Name::kFtm3Ch4;
+
+	case Pin::Name::kPte10:
+	case Pin::Name::kPtc9:
+		return Ftm::Name::kFtm3Ch5;
+
+	case Pin::Name::kPte11:
+	case Pin::Name::kPtc10:
+		return Ftm::Name::kFtm3Ch6;
+
+	case Pin::Name::kPte12:
+	case Pin::Name::kPtc11:
+		return Ftm::Name::kFtm3Ch7;
+
+	default:
+		return Ftm::Name::kDisable;
+	}
+}
+
+Pin::Config::MuxControl Mk60f15Lqfp144::GetFtmMux(const Pin::Name pin)
+{
+	const Uint port = PinUtils::GetPort(pin);
+	const Uint pin_num = PinUtils::GetPinNumber(pin);
+	switch (port)
+	{
+	case 0:
+	case 1:
+		return Pin::Config::MuxControl::kAlt3;
+
+	case 2:
+		if (pin_num <= 4)
+		{
+			return Pin::Config::MuxControl::kAlt4;
+		}
+		else
+		{
+			return Pin::Config::MuxControl::kAlt3;
+		}
+
+	case 3:
+		return Pin::Config::MuxControl::kAlt4;
+
+	case 4:
+		return Pin::Config::MuxControl::kAlt6;
+
+	default:
+		return Pin::Config::MuxControl::kGpio;
+	}
+}
+
+Ftm::QdName Mk60f15Lqfp144::GetFtmQd(const Pin::Name pin)
+{
+	switch (pin)
+	{
+	case Pin::Name::kPta8:
+	case Pin::Name::kPta12:
+	case Pin::Name::kPtb0:
+		return Ftm::QdName::kFtm1QdPha;
+
+	case Pin::Name::kPta9:
+	case Pin::Name::kPta13:
+	case Pin::Name::kPtb1:
+		return Ftm::QdName::kFtm1QdPhb;
+
+	case Pin::Name::kPta10:
+	case Pin::Name::kPtb18:
+		return Ftm::QdName::kFtm2QdPha;
+
+	case Pin::Name::kPta11:
+	case Pin::Name::kPtb19:
+		return Ftm::QdName::kFtm2QdPhb;
+
+	default:
+		return Ftm::QdName::kDisable;
+	}
+}
+
+Pin::Config::MuxControl Mk60f15Lqfp144::GetFtmQdMux(const Pin::Name pin)
+{
+	if (pin == Pin::Name::kPta12 || pin == Pin::Name::kPta13)
+	{
+		return Pin::Config::MuxControl::kAlt7;
+	}
+	else
+	{
+		return Pin::Config::MuxControl::kAlt6;
+	}
+}
+
+}
+}
diff --git a/src/libbase/k60/pit.cpp b/src/libbase/k60/pit.cpp
index f602c77..db9d0ae 100755
--- a/src/libbase/k60/pit.cpp
+++ b/src/libbase/k60/pit.cpp
@@ -2,7 +2,8 @@
  * pit.cpp
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #include "libbase/k60/hardware.h"
diff --git a/src/libbase/k60/rand_generator_a.cpp b/src/libbase/k60/rand_generator_a.cpp
index b03c34c..63f99df 100755
--- a/src/libbase/k60/rand_generator_a.cpp
+++ b/src/libbase/k60/rand_generator_a.cpp
@@ -3,7 +3,8 @@
  * Random Number Generator Accelerator (for RNGA)
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #ifdef MK60D10
diff --git a/src/libbase/k60/sim.cpp b/src/libbase/k60/sim.cpp
index d449f07..a559ce6 100755
--- a/src/libbase/k60/sim.cpp
+++ b/src/libbase/k60/sim.cpp
@@ -3,7 +3,8 @@
  * System integration module
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #include "libbase/k60/hardware.h"
@@ -22,6 +23,22 @@
 using libutil::String;
 using namespace std;
 
+#if MK60DZ10 || MK60D10
+	#define _SIM_SCGC6_DMAMUX0_SHIFT SIM_SCGC6_DMAMUX_SHIFT
+	#define _SIM_SCGC6_SPI0_SHIFT SIM_SCGC6_SPI0_SHIFT
+	#define _SIM_SCGC6_SPI1_SHIFT SIM_SCGC6_SPI1_SHIFT
+	#define _SIM_SCGC3_SPI2_SHIFT SIM_SCGC3_SPI2_SHIFT
+	#define _SIM_SCGC4_I2C0_SHIFT SIM_SCGC4_I2C0_SHIFT
+	#define _SIM_SCGC4_I2C1_SHIFT SIM_SCGC4_I2C1_SHIFT
+#elif MK60F15
+	#define _SIM_SCGC6_DMAMUX0_SHIFT SIM_SCGC6_DMAMUX0_SHIFT
+	#define _SIM_SCGC6_SPI0_SHIFT SIM_SCGC6_DSPI0_SHIFT
+	#define _SIM_SCGC6_SPI1_SHIFT SIM_SCGC6_DSPI1_SHIFT
+	#define _SIM_SCGC3_SPI2_SHIFT SIM_SCGC3_DSPI2_SHIFT
+	#define _SIM_SCGC4_I2C0_SHIFT SIM_SCGC4_IIC0_SHIFT
+	#define _SIM_SCGC4_I2C1_SHIFT SIM_SCGC4_IIC1_SHIFT
+#endif
+
 namespace libbase
 {
 namespace k60
@@ -133,6 +150,16 @@ void Sim::SetEnableClockGate(const ClockGate cg, const bool flag)
 		SetClockGateBit(SIM->SCGC3, SIM_SCGC3_ADC1_SHIFT, flag);
 		break;
 
+#if MK60F15
+	case ClockGate::kAdc2:
+		SetClockGateBit(SIM->SCGC6, SIM_SCGC6_ADC2_SHIFT, flag);
+		break;
+
+	case ClockGate::kAdc3:
+		SetClockGateBit(SIM->SCGC3, SIM_SCGC3_ADC3_SHIFT, flag);
+		break;
+#endif
+
 	case ClockGate::kCmp:
 		SetClockGateBit(SIM->SCGC4, SIM_SCGC4_CMP_SHIFT, flag);
 		break;
@@ -157,10 +184,24 @@ void Sim::SetEnableClockGate(const ClockGate cg, const bool flag)
 		SetClockGateBit(SIM->SCGC7, SIM_SCGC7_DMA_SHIFT, flag);
 		break;
 
+#if MK60DZ10 || MK60D10
 	case ClockGate::kDmaMux:
-		SetClockGateBit(SIM->SCGC6, SIM_SCGC6_DMAMUX_SHIFT, flag);
+#elif MK60F15
+	case ClockGate::kDmaMux0:
+#endif
+		SetClockGateBit(SIM->SCGC6, _SIM_SCGC6_DMAMUX0_SHIFT, flag);
+		break;
+
+#if MK60F15
+	case ClockGate::kDmaMux1:
+		SetClockGateBit(SIM->SCGC6, SIM_SCGC6_DMAMUX1_SHIFT, flag);
 		break;
 
+	case ClockGate::kEsdhc:
+		SetClockGateBit(SIM->SCGC3, SIM_SCGC3_ESDHC_SHIFT, flag);
+		break;
+#endif
+
 	case ClockGate::kEthernet:
 		SetClockGateBit(SIM->SCGC2, SIM_SCGC2_ENET_SHIFT, flag);
 		break;
@@ -181,9 +222,11 @@ void Sim::SetEnableClockGate(const ClockGate cg, const bool flag)
 		SetClockGateBit(SIM->SCGC3, SIM_SCGC3_FLEXCAN1_SHIFT, flag);
 		break;
 
+#if MK60DZ10 || MK60D10
 	case ClockGate::kFlash:
 		SetClockGateBit(SIM->SCGC6, SIM_SCGC6_FTFL_SHIFT, flag);
 		break;
+#endif
 
 	case ClockGate::kFtm0:
 		SetClockGateBit(SIM->SCGC6, SIM_SCGC6_FTM0_SHIFT, flag);
@@ -197,17 +240,33 @@ void Sim::SetEnableClockGate(const ClockGate cg, const bool flag)
 		SetClockGateBit(SIM->SCGC3, SIM_SCGC3_FTM2_SHIFT, flag);
 		break;
 
+#if MK60F15
+	case ClockGate::kFtm3:
+		SetClockGateBit(SIM->SCGC3, SIM_SCGC3_FTM3_SHIFT, flag);
+		break;
+#endif
+
+#if MK60DZ10 || MK60D10
 	case ClockGate::kI2c0:
-		SetClockGateBit(SIM->SCGC4, SIM_SCGC4_I2C0_SHIFT, flag);
+#elif MK60F15
+	case ClockGate::kIic0:
+#endif
+		SetClockGateBit(SIM->SCGC4, _SIM_SCGC4_I2C0_SHIFT, flag);
 		break;
 
+#if MK60DZ10 || MK60D10
 	case ClockGate::kI2c1:
-		SetClockGateBit(SIM->SCGC4, SIM_SCGC4_I2C1_SHIFT, flag);
+#elif MK60F15
+	case ClockGate::kIic1:
+#endif
+		SetClockGateBit(SIM->SCGC4, _SIM_SCGC4_I2C1_SHIFT, flag);
 		break;
 
+#if MK60DZ10 || MK60D10
 	case ClockGate::kI2s:
 		SetClockGateBit(SIM->SCGC6, SIM_SCGC6_I2S_SHIFT, flag);
 		break;
+#endif
 
 	case ClockGate::kLlwu:
 		SetClockGateBit(SIM->SCGC4, SIM_SCGC4_LLWU_SHIFT, flag);
@@ -221,6 +280,16 @@ void Sim::SetEnableClockGate(const ClockGate cg, const bool flag)
 		SetClockGateBit(SIM->SCGC7, SIM_SCGC7_MPU_SHIFT, flag);
 		break;
 
+#if MK60F15
+	case ClockGate::kNfc:
+		SetClockGateBit(SIM->SCGC3, SIM_SCGC3_NFC_SHIFT, flag);
+		break;
+
+	case ClockGate::kOsc1:
+		SetClockGateBit(SIM->SCGC1, SIM_SCGC1_OSC1_SHIFT, flag);
+		break;
+#endif
+
 	case ClockGate::kPdb:
 		SetClockGateBit(SIM->SCGC6, SIM_SCGC6_PDB_SHIFT, flag);
 		break;
@@ -249,6 +318,16 @@ void Sim::SetEnableClockGate(const ClockGate cg, const bool flag)
 		SetClockGateBit(SIM->SCGC5, SIM_SCGC5_PORTE_SHIFT, flag);
 		break;
 
+#if MK60F15
+	case ClockGate::kPortF:
+		SetClockGateBit(SIM->SCGC5, SIM_SCGC5_PORTF_SHIFT, flag);
+		break;
+#endif
+
+	case ClockGate::kRegFile:
+		SetClockGateBit(SIM->SCGC5, SIM_SCGC5_REGFILE_SHIFT, flag);
+		break;
+
 	case ClockGate::kRng:
 #ifdef MK60DZ10
 		SetClockGateBit(SIM->SCGC3, SIM_SCGC3_RNGB_SHIFT, flag);
@@ -261,20 +340,44 @@ void Sim::SetEnableClockGate(const ClockGate cg, const bool flag)
 		SetClockGateBit(SIM->SCGC6, SIM_SCGC6_RTC_SHIFT, flag);
 		break;
 
+#if MK60F15
+	case ClockGate::kSai0:
+		SetClockGateBit(SIM->SCGC6, SIM_SCGC6_SAI0_SHIFT, flag);
+		break;
+
+	case ClockGate::kSai1:
+		SetClockGateBit(SIM->SCGC3, SIM_SCGC3_SAI1_SHIFT, flag);
+		break;
+#endif
+
+#ifdef MK60DZ10
 	case ClockGate::kSdhc:
 		SetClockGateBit(SIM->SCGC3, SIM_SCGC3_SDHC_SHIFT, flag);
 		break;
+#endif
 
+#if MK60DZ10 || MK60D10
 	case ClockGate::kSpi0:
-		SetClockGateBit(SIM->SCGC6, SIM_SCGC6_SPI0_SHIFT, flag);
+#elif MK60F15
+	case ClockGate::kDspi0:
+#endif
+		SetClockGateBit(SIM->SCGC6, _SIM_SCGC6_SPI0_SHIFT, flag);
 		break;
 
+#if MK60DZ10 || MK60D10
 	case ClockGate::kSpi1:
-		SetClockGateBit(SIM->SCGC6, SIM_SCGC6_SPI1_SHIFT, flag);
+#elif MK60F15
+	case ClockGate::kDspi1:
+#endif
+		SetClockGateBit(SIM->SCGC6, _SIM_SCGC6_SPI1_SHIFT, flag);
 		break;
 
+#if MK60DZ10 || MK60D10
 	case ClockGate::kSpi2:
-		SetClockGateBit(SIM->SCGC3, SIM_SCGC3_SPI2_SHIFT, flag);
+#elif MK60F15
+	case ClockGate::kDspi2:
+#endif
+		SetClockGateBit(SIM->SCGC3, _SIM_SCGC3_SPI2_SHIFT, flag);
 		break;
 
 	case ClockGate::kTsi:
@@ -309,9 +412,21 @@ void Sim::SetEnableClockGate(const ClockGate cg, const bool flag)
 		SetClockGateBit(SIM->SCGC6, SIM_SCGC6_USBDCD_SHIFT, flag);
 		break;
 
+#if MK60F15
+	case ClockGate::kUsbFs:
+		SetClockGateBit(SIM->SCGC4, SIM_SCGC4_USBFS_SHIFT, flag);
+		break;
+
+	case ClockGate::kUsbHs:
+		SetClockGateBit(SIM->SCGC6, SIM_SCGC6_USBHS_SHIFT, flag);
+		break;
+#endif
+
+#if MK60DZ10 || MK60D10
 	case ClockGate::kUsbOtg:
 		SetClockGateBit(SIM->SCGC4, SIM_SCGC4_USBOTG_SHIFT, flag);
 		break;
+#endif
 
 	case ClockGate::kVref:
 		SetClockGateBit(SIM->SCGC4, SIM_SCGC4_VREF_SHIFT, flag);
diff --git a/src/libbase/k60/soft_i2c_master.cpp b/src/libbase/k60/soft_i2c_master.cpp
index 3e64ec3..cc94379 100755
--- a/src/libbase/k60/soft_i2c_master.cpp
+++ b/src/libbase/k60/soft_i2c_master.cpp
@@ -2,7 +2,8 @@
  * soft_i2c_master.cpp
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #include "libbase/k60/hardware.h"
@@ -20,7 +21,10 @@
 #include "libbase/k60/misc_utils.h"
 #include "libbase/k60/soft_i2c_master.h"
 
+#include "libsc/k60/system.h"
+
 using namespace std;
+using namespace libsc::k60;
 
 #define SEND_BYTE_GUARDED(x, ret) do { if (!SendByte_(x)) { Stop(); return ret; } } while (false)
 
@@ -58,7 +62,8 @@ inline void SoftI2cMaster::Delay()
 }
 
 SoftI2cMaster::SoftI2cMaster(const Config &config)
-		: m_delay_us(config.delay_us),
+		: m_scl_low_timeout(config.scl_low_timeout),
+		  m_delay_us(config.delay_us),
 		  m_scl(GetSclConfig(config)),
 		  m_sda(GetSdaConfig(config)),
 		  m_is_init(true)
@@ -71,7 +76,8 @@ SoftI2cMaster::SoftI2cMaster(SoftI2cMaster &&rhs)
 }
 
 SoftI2cMaster::SoftI2cMaster(nullptr_t)
-		: m_delay_us(0),
+		: m_scl_low_timeout(0),
+		  m_delay_us(0),
 		  m_scl(nullptr),
 		  m_sda(nullptr),
 		  m_is_init(false)
@@ -206,7 +212,7 @@ bool SoftI2cMaster::SendByte_(const Byte byte)
 }
 
 // Assume SCL is low when being called
-Byte SoftI2cMaster::ReadByte_(const bool is_ack)
+bool SoftI2cMaster::ReadByte_(const bool is_ack, Byte *out_byte)
 {
 	m_sda.EnsureGpi();
 
@@ -215,9 +221,20 @@ Byte SoftI2cMaster::ReadByte_(const bool is_ack)
 	{
 		m_scl.EnsureGpi();
 		Delay();
+
+		// TODO libbase should not depends on libsc
+		const Timer::TimerInt start = System::Time();
+		const Timer::TimerInt max = (m_scl_low_timeout * m_delay_us + 999)
+				/ 1000;
 		// Clock stretching
 		while (!m_scl.Get())
-		{}
+		{
+			if (Timer::TimeDiff(System::Time(), start) >= max)
+			{
+				LOG_DL("i2c scl timeout");
+				return false;
+			}
+		}
 
 		byte |= m_sda.Get() << (7 - i);
 		m_scl.Clear();
@@ -233,7 +250,8 @@ Byte SoftI2cMaster::ReadByte_(const bool is_ack)
 	Delay();
 	m_scl.Clear();
 	Delay();
-	return byte;
+	*out_byte = byte;
+	return true;
 }
 
 bool SoftI2cMaster::GetByte(const Byte slave_addr, const Byte reg_addr,
@@ -246,9 +264,16 @@ bool SoftI2cMaster::GetByte(const Byte slave_addr, const Byte reg_addr,
 	SEND_BYTE_GUARDED(reg_addr, false);
 	Start();
 	SEND_BYTE_GUARDED((slave_addr << 1) | 0x1, false);
-	*out_byte = ReadByte_(false);
-	Stop();
-	return true;
+	if (!ReadByte_(false, out_byte))
+	{
+		Stop();
+		return false;
+	}
+	else
+	{
+		Stop();
+		return true;
+	}
 }
 
 vector<Byte> SoftI2cMaster::GetBytes(const Byte slave_addr, const Byte reg_addr,
@@ -266,9 +291,19 @@ vector<Byte> SoftI2cMaster::GetBytes(const Byte slave_addr, const Byte reg_addr,
 	SEND_BYTE_GUARDED(((slave_addr << 1) & 0xFE) | 0x1, {});
 	for (uint8_t i = 0; i < size - 1; ++i)
 	{
-		bytes.push_back(ReadByte_(true));
+		Byte byte;
+		if (!ReadByte_(true, &byte))
+		{
+			Stop();
+			return bytes;
+		}
+		bytes.push_back(byte);
+	}
+	Byte byte;
+	if (ReadByte_(true, &byte))
+	{
+		bytes.push_back(byte);
 	}
-	bytes.push_back(ReadByte_(false));
 	Stop();
 	return bytes;
 }
diff --git a/src/libbase/k60/soft_pwm.cpp b/src/libbase/k60/soft_pwm.cpp
index 2f14ddc..948f986 100755
--- a/src/libbase/k60/soft_pwm.cpp
+++ b/src/libbase/k60/soft_pwm.cpp
@@ -2,7 +2,8 @@
  * soft_pwm.cpp
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #include <cassert>
@@ -83,7 +84,7 @@ void SoftPwm::Setup(const uint32_t period, const uint32_t pos_width)
 		m_neg_count = ClockUtils::GetBusTickPerUs(m_neg_width);
 		break;
 
-	case Pwm::Config::Precision::KNs:
+	case Pwm::Config::Precision::kNs:
 		m_pos_count = ClockUtils::GetBusTickPerNs(m_pos_width);
 		m_neg_count = ClockUtils::GetBusTickPerNs(m_neg_width);
 		break;
diff --git a/src/libbase/k60/soft_quad_decoder.cpp b/src/libbase/k60/soft_quad_decoder.cpp
index 66af9fd..6365228 100755
--- a/src/libbase/k60/soft_quad_decoder.cpp
+++ b/src/libbase/k60/soft_quad_decoder.cpp
@@ -2,7 +2,8 @@
  * soft_quad_decoder.cpp
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #include <cstddef>
diff --git a/src/libbase/k60/soft_spi_master.cpp b/src/libbase/k60/soft_spi_master.cpp
index 9c47328..ad678a4 100755
--- a/src/libbase/k60/soft_spi_master.cpp
+++ b/src/libbase/k60/soft_spi_master.cpp
@@ -2,7 +2,8 @@
  * soft_spi_master.cpp
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #include "libbase/k60/hardware.h"
diff --git a/src/libbase/k60/spi_master.cpp b/src/libbase/k60/spi_master.cpp
index c40708e..a3d4f37 100755
--- a/src/libbase/k60/spi_master.cpp
+++ b/src/libbase/k60/spi_master.cpp
@@ -2,7 +2,8 @@
  * spi_master.cpp
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #include "libbase/k60/hardware.h"
@@ -120,7 +121,11 @@ SpiMaster::SpiMaster(const Config &config)
 	m_is_init = true;
 	g_instances[m_module] = this;
 
+#if MK60DZ10 || MK60D10
 	Sim::SetEnableClockGate(EnumAdvance(Sim::ClockGate::kSpi0, m_module), true);
+#elif MK60F15
+	Sim::SetEnableClockGate(EnumAdvance(Sim::ClockGate::kDspi0, m_module), true);
+#endif
 	InitPin(config);
 	InitMcrReg(config);
 	InitCtarReg(config);
@@ -484,8 +489,13 @@ void SpiMaster::Uninit()
 		m_is_init = false;
 
 		SetHalt(true);
+#if MK60DZ10 || MK60D10
 		Sim::SetEnableClockGate(EnumAdvance(Sim::ClockGate::kSpi0, m_module),
 				false);
+#elif MK60F15
+		Sim::SetEnableClockGate(EnumAdvance(Sim::ClockGate::kDspi0, m_module),
+				false);
+#endif
 		g_instances[m_module] = nullptr;
 	}
 }
diff --git a/src/libbase/k60/spi_utils.cpp b/src/libbase/k60/spi_utils.cpp
index 4f4f1af..9c5c097 100755
--- a/src/libbase/k60/spi_utils.cpp
+++ b/src/libbase/k60/spi_utils.cpp
@@ -2,7 +2,8 @@
  * spi_utils.cpp
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #include <cassert>
diff --git a/src/libbase/k60/sys_tick.cpp b/src/libbase/k60/sys_tick.cpp
index bfc5537..72af48f 100755
--- a/src/libbase/k60/sys_tick.cpp
+++ b/src/libbase/k60/sys_tick.cpp
@@ -2,7 +2,8 @@
  * sys_tick.cpp
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #include "libbase/k60/hardware.h"
diff --git a/src/libbase/k60/uart.cpp b/src/libbase/k60/uart.cpp
index d93474c..edeeca6 100644
--- a/src/libbase/k60/uart.cpp
+++ b/src/libbase/k60/uart.cpp
@@ -2,7 +2,8 @@
  * uart.cpp
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #include "libbase/k60/hardware.h"
@@ -292,8 +293,8 @@ void Uart::InitBaudRate(const Config::BaudRate br)
 	assert(sbr <= 0x1FFF);
 
 	UART_Type* uart_ptr = MEM_MAPS[m_module];
-	uart_ptr->BDH = (sbr >> 8) & 0x1F;
-	uart_ptr->BDL = sbr & 0xFF;
+	uart_ptr->BDH = UART_BDH_SBR(sbr >> 8);
+	uart_ptr->BDL = UART_BDL_SBR(sbr);
 
 	float null;
 	const int brfa = roundf(modf(target, &null) * 32);
diff --git a/src/libbase/k60/vectors.c b/src/libbase/k60/vectors.c
index 9d1de46..b9cc16b 100755
--- a/src/libbase/k60/vectors.c
+++ b/src/libbase/k60/vectors.c
@@ -2,7 +2,8 @@
  * vectors.c
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 /** ###################################################################
 **     THIS COMPONENT MODULE IS GENERATED BY THE TOOL. DO NOT MODIFY IT.
@@ -39,14 +40,19 @@ __attribute__((__naked__)) void HardFaultHandlerAsm(void);
 
 HardFaultHandler g_hard_fault_handler = NULL;
 
-
 /* ISR prototype */
 extern uint32_t __SP_INIT;
 extern void __thumb_startup(void);
 
+#if MK60DZ10 || MK60D10
+/* Interrupt vector table type definition */
+typedef struct {
+	void * __ptr;
+	tIsrFunc __fun[0x77];
+} tVectorTable;
 
-__attribute__ ((section (".vectortable"))) const tVectorTable __vect_table = { /* Interrupt vector table */
-
+__attribute__ ((section (".vectortable")))
+const tVectorTable __vect_table = { /* Interrupt vector table */
 	/* ISR name                            No. Address      Pri Name                           Description */
 	&__SP_INIT,                       /* 0x00  0x00000000   -   ivINT_Initial_Stack_Pointer    used by PE */
 	{
@@ -172,6 +178,144 @@ __attribute__ ((section (".vectortable"))) const tVectorTable __vect_table = { /
 	}
 };
 
+#elif MK60F15
+/* Interrupt vector table type definition */
+typedef struct {
+	void * __ptr;
+	tIsrFunc __fun[0x79];
+} tVectorTable;
+
+__attribute__ ((section (".vectortable")))
+const tVectorTable __vect_table = { /* Interrupt vector table */
+	/* ISR name                             No. Address      Pri Name                           Description */
+	&__SP_INIT,                        /* 0x00  0x00000000   -   ivINT_Initial_Stack_Pointer    used by PE */
+	{
+	(tIsrFunc)&__thumb_startup,        /* 0x01  0x00000004   -   ivINT_Initial_Program_Counter  used by PE */
+	(tIsrFunc)&DefaultIsr,   /* 0x02  0x00000008   -2   ivINT_NMI                      used by PE */
+	(tIsrFunc)&HardFaultHandlerAsm,          /* 0x03  0x0000000C   -1   ivINT_Hard_Fault               unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x04  0x00000010   -   ivINT_Mem_Manage_Fault         unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x05  0x00000014   -   ivINT_Bus_Fault                unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x06  0x00000018   -   ivINT_Usage_Fault              unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x07  0x0000001C   -   ivINT_Reserved7                unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x08  0x00000020   -   ivINT_Reserved8                unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x09  0x00000024   -   ivINT_Reserved9                unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x0A  0x00000028   -   ivINT_Reserved10               unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x0B  0x0000002C   -   ivINT_SVCall                   unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x0C  0x00000030   -   ivINT_DebugMonitor             unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x0D  0x00000034   -   ivINT_Reserved13               unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x0E  0x00000038   -   ivINT_PendableSrvReq           unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x0F  0x0000003C   -   ivINT_SysTick                  unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x10  0x00000040   -   ivINT_DMA0_DMA16               unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x11  0x00000044   -   ivINT_DMA1_DMA17               unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x12  0x00000048   -   ivINT_DMA2_DMA18               unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x13  0x0000004C   -   ivINT_DMA3_DMA19               unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x14  0x00000050   -   ivINT_DMA4_DMA20               unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x15  0x00000054   -   ivINT_DMA5_DMA21               unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x16  0x00000058   -   ivINT_DMA6_DMA22               unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x17  0x0000005C   -   ivINT_DMA7_DMA23               unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x18  0x00000060   -   ivINT_DMA8_DMA24               unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x19  0x00000064   -   ivINT_DMA9_DMA25               unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x1A  0x00000068   -   ivINT_DMA10_DMA26              unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x1B  0x0000006C   -   ivINT_DMA11_DMA27              unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x1C  0x00000070   -   ivINT_DMA12_DMA28              unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x1D  0x00000074   -   ivINT_DMA13_DMA29              unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x1E  0x00000078   -   ivINT_DMA14_DMA30              unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x1F  0x0000007C   -   ivINT_DMA15_DMA31              unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x20  0x00000080   -   ivINT_DMA_Error                unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x21  0x00000084   -   ivINT_MCM                      unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x22  0x00000088   -   ivINT_FTFE                     unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x23  0x0000008C   -   ivINT_Read_Collision           unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x24  0x00000090   -   ivINT_LVD_LVW                  unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x25  0x00000094   -   ivINT_LLW                      unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x26  0x00000098   -   ivINT_Watchdog                 unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x27  0x0000009C   -   ivINT_RNG                      unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x28  0x000000A0   -   ivINT_I2C0                     unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x29  0x000000A4   -   ivINT_I2C1                     unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x2A  0x000000A8   -   ivINT_SPI0                     unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x2B  0x000000AC   -   ivINT_SPI1                     unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x2C  0x000000B0   -   ivINT_SPI2                     unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x2D  0x000000B4   -   ivINT_CAN0_ORed_Message_buffer unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x2E  0x000000B8   -   ivINT_CAN0_Bus_Off             unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x2F  0x000000BC   -   ivINT_CAN0_Error               unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x30  0x000000C0   -   ivINT_CAN0_Tx_Warning          unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x31  0x000000C4   -   ivINT_CAN0_Rx_Warning          unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x32  0x000000C8   -   ivINT_CAN0_Wake_Up             unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x33  0x000000CC   -   ivINT_I2S0_Tx                  unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x34  0x000000D0   -   ivINT_I2S0_Rx                  unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x35  0x000000D4   -   ivINT_CAN1_ORed_Message_buffer unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x36  0x000000D8   -   ivINT_CAN1_Bus_Off             unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x37  0x000000DC   -   ivINT_CAN1_Error               unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x38  0x000000E0   -   ivINT_CAN1_Tx_Warning          unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x39  0x000000E4   -   ivINT_CAN1_Rx_Warning          unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x3A  0x000000E8   -   ivINT_CAN1_Wake_Up             unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x3B  0x000000EC   -   ivINT_Reserved59               unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x3C  0x000000F0   -   ivINT_UART0_LON                unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x3D  0x000000F4   -   ivINT_UART0_RX_TX              unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x3E  0x000000F8   -   ivINT_UART0_ERR                unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x3F  0x000000FC   -   ivINT_UART1_RX_TX              unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x40  0x00000100   -   ivINT_UART1_ERR                unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x41  0x00000104   -   ivINT_UART2_RX_TX              unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x42  0x00000108   -   ivINT_UART2_ERR                unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x43  0x0000010C   -   ivINT_UART3_RX_TX              unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x44  0x00000110   -   ivINT_UART3_ERR                unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x45  0x00000114   -   ivINT_UART4_RX_TX              unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x46  0x00000118   -   ivINT_UART4_ERR                unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x47  0x0000011C   -   ivINT_UART5_RX_TX              unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x48  0x00000120   -   ivINT_UART5_ERR                unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x49  0x00000124   -   ivINT_ADC0                     unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x4A  0x00000128   -   ivINT_ADC1                     unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x4B  0x0000012C   -   ivINT_CMP0                     unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x4C  0x00000130   -   ivINT_CMP1                     unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x4D  0x00000134   -   ivINT_CMP2                     unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x4E  0x00000138   -   ivINT_FTM0                     unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x4F  0x0000013C   -   ivINT_FTM1                     unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x50  0x00000140   -   ivINT_FTM2                     unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x51  0x00000144   -   ivINT_CMT                      unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x52  0x00000148   -   ivINT_RTC                      unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x53  0x0000014C   -   ivINT_RTC_Seconds              unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x54  0x00000150   -   ivINT_PIT0                     unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x55  0x00000154   -   ivINT_PIT1                     unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x56  0x00000158   -   ivINT_PIT2                     unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x57  0x0000015C   -   ivINT_PIT3                     unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x58  0x00000160   -   ivINT_PDB0                     unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x59  0x00000164   -   ivINT_USB0                     unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x5A  0x00000168   -   ivINT_USBDCD                   unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x5B  0x0000016C   -   ivINT_ENET_1588_Timer          unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x5C  0x00000170   -   ivINT_ENET_Transmit            unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x5D  0x00000174   -   ivINT_ENET_Receive             unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x5E  0x00000178   -   ivINT_ENET_Error               unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x5F  0x0000017C   -   ivINT_Reserved95               unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x60  0x00000180   -   ivINT_SDHC                     unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x61  0x00000184   -   ivINT_DAC0                     unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x62  0x00000188   -   ivINT_DAC1                     unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x63  0x0000018C   -   ivINT_TSI0                     unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x64  0x00000190   -   ivINT_MCG                      unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x65  0x00000194   -   ivINT_LPTimer                  unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x66  0x00000198   -   ivINT_Reserved102              unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x67  0x0000019C   -   ivINT_PORTA                    unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x68  0x000001A0   -   ivINT_PORTB                    unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x69  0x000001A4   -   ivINT_PORTC                    unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x6A  0x000001A8   -   ivINT_PORTD                    unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x6B  0x000001AC   -   ivINT_PORTE                    unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x6C  0x000001B0   -   ivINT_PORTF                    unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x6D  0x000001B4   -   ivINT_Reserved109              unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x6E  0x000001B8   -   ivINT_SWI                      unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x6F  0x000001BC   -   ivINT_NFC                      unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x70  0x000001C0   -   ivINT_USBHS                    unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x71  0x000001C4   -   ivINT_Reserved113              unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x72  0x000001C8   -   ivINT_CMP3                     unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x73  0x000001CC   -   ivINT_Reserved115              unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x74  0x000001D0   -   ivINT_Reserved116              unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x75  0x000001D4   -   ivINT_FTM3                     unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x76  0x000001D8   -   ivINT_ADC2                     unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x77  0x000001DC   -   ivINT_ADC3                     unused by PE */
+	(tIsrFunc)&DefaultIsr,          /* 0x78  0x000001E0   -   ivINT_I2S1_Tx                  unused by PE */
+	(tIsrFunc)&DefaultIsr           /* 0x79  0x000001E4   -   ivINT_I2S1_Rx                  unused by PE */
+	}
+};
+
+#endif
+
 __attribute__ ((section (".vectortableram"))) tVectorTable __vect_ram; /* Interrupt vector table in RAM */
 
 
diff --git a/src/libbase/k60/watchdog.cpp b/src/libbase/k60/watchdog.cpp
index 8c656bf..12bfafe 100755
--- a/src/libbase/k60/watchdog.cpp
+++ b/src/libbase/k60/watchdog.cpp
@@ -2,7 +2,8 @@
  * watchdog.cpp
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #include "libbase/k60/hardware.h"
@@ -57,7 +58,9 @@ void Watchdog::InitStctrlReg(const Config &config)
 
 	uint16_t reg_h = 0;
 
+#if MK60DZ10 || MK60D10
 	SET_BIT(reg_h, WDOG_STCTRLH_STNDBYEN_SHIFT);
+#endif
 	SET_BIT(reg_h, WDOG_STCTRLH_WAITEN_SHIFT);
 	SET_BIT(reg_h, WDOG_STCTRLH_STOPEN_SHIFT);
 	if (config.is_allow_update)
@@ -115,7 +118,9 @@ void Watchdog::StartupInitialize()
 	// Disable but allow reconfig on startup
 	uint32_t reg_h = 0;
 	SET_BIT(reg_h, WDOG_STCTRLH_DISTESTWDOG_SHIFT);
+#if MK60DZ10 || MK60D10
 	SET_BIT(reg_h, WDOG_STCTRLH_STNDBYEN_SHIFT);
+#endif
 	SET_BIT(reg_h, WDOG_STCTRLH_WAITEN_SHIFT);
 	SET_BIT(reg_h, WDOG_STCTRLH_STOPEN_SHIFT);
 	SET_BIT(reg_h, WDOG_STCTRLH_ALLOWUPDATE_SHIFT);
diff --git a/src/libsc/k60/ab_encoder.cpp b/src/libsc/k60/ab_encoder.cpp
new file mode 100755
index 0000000..14186ca
--- /dev/null
+++ b/src/libsc/k60/ab_encoder.cpp
@@ -0,0 +1,44 @@
+/*
+ * ab_encoder.cpp
+ *
+ * Author: Ming Tsang
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
+ */
+
+#include <cstdint>
+
+#include "libbase/k60/ftm_quad_decoder.h"
+
+#include "libsc/config.h"
+#include "libsc/k60/ab_encoder.h"
+
+using namespace libbase::k60;
+
+namespace libsc
+{
+namespace k60
+{
+
+#if LIBSC_USE_SOFT_ENCODER
+SoftQuadDecoder::Config AbEncoder::Initializer::GetQuadDecoderConfig() const
+{
+	return Initializer::GetQuadDecoderConfig();
+}
+
+#else
+FtmQuadDecoder::Config AbEncoder::Initializer::GetQuadDecoderConfig() const
+{
+	FtmQuadDecoder::Config product = Initializer::GetQuadDecoderConfig();
+	product.encoding_mode = FtmQuadDecoder::Config::EncodingMode::kPhaseAB;
+	return product;
+}
+
+#endif
+
+AbEncoder::AbEncoder(const Config &config)
+		: Encoder(Initializer(config))
+{}
+
+}
+}
diff --git a/src/libsc/k60/alternate_motor.cpp b/src/libsc/k60/alternate_motor.cpp
index cd918d3..0cef9f1 100755
--- a/src/libsc/k60/alternate_motor.cpp
+++ b/src/libsc/k60/alternate_motor.cpp
@@ -2,7 +2,7 @@
  * alternate_motor.cpp
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
  * Refer to LICENSE for details
  */
 
@@ -121,7 +121,7 @@ FtmPwm::Config GetFtmPwmAConfig(const uint8_t id)
 	config.pin = GetPwmAPin(id);
 	config.period = PERIOD;
 	config.pos_width = 0;
-	config.precision = Pwm::Config::Precision::KNs;
+	config.precision = Pwm::Config::Precision::kNs;
 	config.alignment = FtmPwm::Config::Alignment::kCenter;
 	config.is_insert_deadtime = true;
 	config.deadtime_ns = GetDeadtime(id);
@@ -134,7 +134,7 @@ FtmPwm::Config GetFtmPwmBConfig(const uint8_t id)
 	config.pin = GetPwmBPin(id);
 	config.period = PERIOD;
 	config.pos_width = 0;
-	config.precision = Pwm::Config::Precision::KNs;
+	config.precision = Pwm::Config::Precision::kNs;
 	config.alignment = FtmPwm::Config::Alignment::kCenter;
 	config.is_insert_deadtime = true;
 	config.deadtime_ns = GetDeadtime(id);
diff --git a/src/libsc/k60/ambient_light_sensor.cpp b/src/libsc/k60/ambient_light_sensor.cpp
index 9495a7d..4b73d52 100755
--- a/src/libsc/k60/ambient_light_sensor.cpp
+++ b/src/libsc/k60/ambient_light_sensor.cpp
@@ -3,7 +3,8 @@
  * LS1970
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #include <cassert>
@@ -65,8 +66,8 @@ Adc::Config GetAdcConfig(const uint8_t id)
 
 }
 
-AmbientLightSensor::AmbientLightSensor(const uint8_t id)
-		: m_pin(GetAdcConfig(id))
+AmbientLightSensor::AmbientLightSensor(const Config &config)
+		: m_pin(GetAdcConfig(config.id))
 {}
 
 uint16_t AmbientLightSensor::GetLux()
@@ -78,7 +79,7 @@ uint16_t AmbientLightSensor::GetLux()
 }
 
 #else
-AmbientLightSensor::AmbientLightSensor(const uint8_t)
+AmbientLightSensor::AmbientLightSensor(const Config&)
 		: m_pin(nullptr)
 {
 	LOG_DL("Configured not to use AmbientLightSensor");
diff --git a/src/libsc/k60/battery_meter.cpp b/src/libsc/k60/battery_meter.cpp
new file mode 100755
index 0000000..b0ecd2c
--- /dev/null
+++ b/src/libsc/k60/battery_meter.cpp
@@ -0,0 +1,62 @@
+/*
+ * battery_meter.cpp
+ *
+ * Author: Ming Tsang
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
+ */
+
+#include "libbase/log.h"
+#include "libbase/k60/adc.h"
+
+#include "libsc/config.h"
+#include "libsc/k60/battery_meter.h"
+
+using namespace libbase::k60;
+
+namespace libsc
+{
+namespace k60
+{
+
+#ifdef LIBSC_USE_BATTERY_METER
+
+namespace
+{
+
+Adc::Config GetAdcConfig()
+{
+	Adc::Config config;
+	config.adc = LIBSC_BATTERY_METER;
+	config.speed = Adc::Config::SpeedMode::kExFast;
+	config.is_continuous_mode = true;
+	config.avg_pass = Adc::Config::AveragePass::k4;
+	return config;
+}
+
+}
+
+BatteryMeter::BatteryMeter(const Config &config)
+		: m_adc(GetAdcConfig()),
+		  m_voltage_ratio(1.0f / config.voltage_ratio)
+{
+	m_adc.StartConvert();
+}
+
+float BatteryMeter::GetVoltage()
+{
+	return m_adc.GetResultF() * m_voltage_ratio;
+}
+
+#else
+BatteryMeter::BatteryMeter(const Config&)
+		: m_adc(nullptr)
+{
+	LOG_DL("Configured not to use BatteryMeter");
+}
+float BatteryMeter::GetVoltage() { return 0.0f; }
+
+#endif /* LIBSC_USE_BATTERY_METER */
+
+}
+}
diff --git a/src/libsc/k60/button.cpp b/src/libsc/k60/button.cpp
index fe1491d..129bda5 100755
--- a/src/libsc/k60/button.cpp
+++ b/src/libsc/k60/button.cpp
@@ -2,7 +2,8 @@
  * button.cpp
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #include <cassert>
@@ -87,18 +88,19 @@ Gpi::Config GetGpiConfig(const uint8_t id)
 
 }
 
-Button::Button(const uint8_t id)
-		: m_pin(GetGpiConfig(id))
+Button::Button(const Config &config)
+		: m_pin(GetGpiConfig(config.id)),
+		  m_is_active_low(config.is_active_low)
 {}
 
 bool Button::IsDown() const
 {
-	return !m_pin.Get();
+	return (m_pin.Get() ^ m_is_active_low);
 }
 
 #else
-Button::Button(const uint8_t)
-		: m_pin(nullptr)
+Button::Button(const Config&)
+		: m_pin(nullptr), m_is_active_low(false)
 {
 	LOG_DL("Configured not to use Button");
 }
diff --git a/src/libsc/k60/dir_encoder.cpp b/src/libsc/k60/dir_encoder.cpp
new file mode 100755
index 0000000..311cee1
--- /dev/null
+++ b/src/libsc/k60/dir_encoder.cpp
@@ -0,0 +1,43 @@
+/*
+ * dir_encoder.cpp
+ *
+ * Author: Ming Tsang
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
+ */
+
+#include "libbase/k60/ftm_quad_decoder.h"
+
+#include "libsc/config.h"
+#include "libsc/k60/dir_encoder.h"
+
+using namespace libbase::k60;
+
+namespace libsc
+{
+namespace k60
+{
+
+#if LIBSC_USE_SOFT_ENCODER
+SoftQuadDecoder::Config AbEncoder::Initializer::GetQuadDecoderConfig() const
+{
+	return Initializer::GetQuadDecoderConfig();
+}
+
+#else
+FtmQuadDecoder::Config DirEncoder::Initializer::GetQuadDecoderConfig() const
+{
+	FtmQuadDecoder::Config product = Initializer::GetQuadDecoderConfig();
+	product.encoding_mode =
+			FtmQuadDecoder::Config::EncodingMode::kCountDirection;
+	return product;
+}
+
+#endif
+
+DirEncoder::DirEncoder(const Config &config)
+		: Encoder(Initializer(config))
+{}
+
+}
+}
diff --git a/src/libsc/k60/dir_motor.cpp b/src/libsc/k60/dir_motor.cpp
index c282788..860e091 100644
--- a/src/libsc/k60/dir_motor.cpp
+++ b/src/libsc/k60/dir_motor.cpp
@@ -3,7 +3,7 @@
  * DC Motor
  *
  * Author: Harrison Ng, Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
  * Refer to LICENSE for details
  */
 
@@ -97,7 +97,7 @@ FtmPwm::Config GetFtmPwmConfig(const uint8_t id)
 	config.pin = GetPwmPin(id);
 	config.period = PERIOD;
 	config.pos_width = 0;
-	config.precision = Pwm::Config::Precision::KNs;
+	config.precision = Pwm::Config::Precision::kNs;
 	config.alignment = FtmPwm::Config::Alignment::kCenter;
 	return config;
 }
diff --git a/src/libsc/k60/temperature_sensor.cpp b/src/libsc/k60/ds18b20.cpp
similarity index 70%
rename from src/libsc/k60/temperature_sensor.cpp
rename to src/libsc/k60/ds18b20.cpp
index ac1b9b5..acf54b6 100755
--- a/src/libsc/k60/temperature_sensor.cpp
+++ b/src/libsc/k60/ds18b20.cpp
@@ -1,9 +1,10 @@
 /*
- * temperature_sensor.cpp
- * DS18B20 temperature sensor
+ * ds18b20.h
+ * DS18B20 digital thermometer
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #include <cstdint>
@@ -13,15 +14,12 @@
 #include "libbase/k60/gpio.h"
 
 #include "libsc/config.h"
+#include "libsc/device_h/ds18b20.h"
+#include "libsc/k60/ds18b20.h"
 #include "libsc/k60/system.h"
-#include "libsc/k60/temperature_sensor.h"
 
 using namespace libbase::k60;
 
-#define CMD_SKIP 0xCC
-#define CMD_CONVERT_T 0x44
-#define CMD_READ_SP 0xBE
-
 namespace libsc
 {
 namespace k60
@@ -53,20 +51,21 @@ GpoConfig GetGpoConfig(const uint8_t id)
 
 }
 
-TemperatureSensor::TemperatureSensor(const uint8_t id)
-		: m_pin(GetGpoConfig(id)), m_temperature(0.0f)
+Ds18b20::Ds18b20(const Config &config)
+		: m_pin(GetGpoConfig(config.id)),
+		  m_temperature(0.0f)
 {}
 
-void TemperatureSensor::UpdateTemperature()
+void Ds18b20::UpdateTemperature()
 {
 	if (Init())
 	{
-		SendByte(CMD_SKIP);
-		SendByte(CMD_CONVERT_T);
+		SendByte(DS18B20_SKIP);
+		SendByte(DS18B20_CONVERT_T);
 		if (Init())
 		{
-			SendByte(CMD_SKIP);
-			SendByte(CMD_READ_SP);
+			SendByte(DS18B20_SKIP);
+			SendByte(DS18B20_READ_SP);
 			uint16_t data = ReceiveByte();
 			data |= ReceiveByte() << 8;
 
@@ -94,7 +93,7 @@ void TemperatureSensor::UpdateTemperature()
 	}
 }
 
-bool TemperatureSensor::Init()
+bool Ds18b20::Init()
 {
 	m_pin.Set(false);
 	System::DelayUs(480);
@@ -110,7 +109,7 @@ bool TemperatureSensor::Init()
 	return true;
 }
 
-void TemperatureSensor::SendByte(const uint8_t byte)
+void Ds18b20::SendByte(const uint8_t byte)
 {
 	for (int i = 0; i < 8; ++i)
 	{
@@ -124,13 +123,13 @@ void TemperatureSensor::SendByte(const uint8_t byte)
 		else
 		{
 			System::DelayUs(60);
-			m_pin.Set(true);
+			m_pin.EnsureGpi();
 		}
 		System::DelayUs(1);
 	}
 }
 
-uint8_t TemperatureSensor::ReceiveByte()
+uint8_t Ds18b20::ReceiveByte()
 {
 	uint8_t product = 0;
 	for (int i = 0; i < 8; ++i)
@@ -145,12 +144,12 @@ uint8_t TemperatureSensor::ReceiveByte()
 
 #else
 
-TemperatureSensor::TemperatureSensor(const uint8_t)
+Ds18b20::Ds18b20(const Config&)
 		: m_pin(nullptr), m_temperature(0.0f)
 {
-	LOG_DL("Configured not to use TemperatureSensor");
+	LOG_DL("Configured not to use Ds18b20");
 }
-void TemperatureSensor::UpdateTemperature() {}
+void Ds18b20::UpdateTemperature() {}
 
 #endif /* LIBSC_USE_TEMPERATURE_SENSOR */
 
diff --git a/src/libsc/k60/encoder.cpp b/src/libsc/k60/encoder.cpp
index 8406138..8705e23 100755
--- a/src/libsc/k60/encoder.cpp
+++ b/src/libsc/k60/encoder.cpp
@@ -3,7 +3,8 @@
  * Phase A/B encoder
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #include <cassert>
@@ -26,7 +27,7 @@ namespace libsc
 namespace k60
 {
 
-#ifdef LIBSC_USE_ENCODER
+#if LIBSC_USE_ENCODER
 
 namespace
 {
@@ -85,8 +86,8 @@ inline Pin::Name GetQdb(const uint8_t id)
 
 #endif // LIBSC_USE_ENCODER
 
-#ifdef LIBSC_USE_SOFT_ENCODER
-SoftQuadDecoder::Config GetQuadDecoderConfig(const uint8_t id)
+#if LIBSC_USE_SOFT_ENCODER
+inline SoftQuadDecoder::Config GetQuadDecoderConfig_(const uint8_t id)
 {
 	SoftQuadDecoder::Config config;
 	config.a_pin = GetQda(id);
@@ -95,12 +96,11 @@ SoftQuadDecoder::Config GetQuadDecoderConfig(const uint8_t id)
 }
 
 #else
-FtmQuadDecoder::Config GetQuadDecoderConfig(const uint8_t id)
+inline FtmQuadDecoder::Config GetQuadDecoderConfig_(const uint8_t id)
 {
 	FtmQuadDecoder::Config config;
 	config.a_pin = GetQda(id);
 	config.b_pin = GetQdb(id);
-	config.encoding_mode = FtmQuadDecoder::Config::EncodingMode::kPhaseAB;
 	config.a_filter_length = 1;
 	config.b_filter_length = 1;
 	return config;
@@ -110,22 +110,25 @@ FtmQuadDecoder::Config GetQuadDecoderConfig(const uint8_t id)
 
 }
 
-Encoder::Encoder(const uint8_t id)
-		: m_id(id),
-		  m_count(0),
-		  m_quad_decoder(GetQuadDecoderConfig(m_id))
+Encoder::QuadDecoder::Config Encoder::Initializer::GetQuadDecoderConfig() const
+{
+	return GetQuadDecoderConfig_(config.id);
+}
+
+Encoder::Encoder(const Initializer &initializer)
+		: m_count(0),
+		  m_quad_decoder(initializer.GetQuadDecoderConfig())
 {}
 
 void Encoder::Update()
 {
 	m_count = m_quad_decoder.GetCount();
 	m_quad_decoder.ResetCount();
-	return;
 }
 
 #else
-Encoder::Encoder(const uint8_t)
-		: m_id(0), m_count(0)
+Encoder::Encoder(const Initializer&)
+		: m_count(0), m_quad_decoder(nullptr)
 {
 	LOG_DL("Configured not to use Encoder");
 }
diff --git a/src/libsc/k60/futaba_s3010.cpp b/src/libsc/k60/futaba_s3010.cpp
index b6ffdc5..2fd73a8 100755
--- a/src/libsc/k60/futaba_s3010.cpp
+++ b/src/libsc/k60/futaba_s3010.cpp
@@ -3,7 +3,8 @@
  * Futaba S3010 RC servo
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #include <cstdint>
@@ -19,8 +20,23 @@ namespace libsc
 namespace k60
 {
 
-FutabaS3010::FutabaS3010(const uint8_t id)
-		: Servo(id, PERIOD, POS_WIDTH_MIN, POS_WIDTH_MAX)
+namespace
+{
+
+Servo::Config GetServoConfig(const uint8_t id)
+{
+	Servo::Config config;
+	config.id = id;
+	config.period = PERIOD;
+	config.min_pos_width = POS_WIDTH_MIN;
+	config.max_pos_width = POS_WIDTH_MAX;
+	return config;
+}
+
+}
+
+FutabaS3010::FutabaS3010(const Config &config)
+		: Servo(GetServoConfig(config.id))
 {}
 
 }
diff --git a/src/libsc/k60/gyroscope.cpp b/src/libsc/k60/gyroscope.cpp
deleted file mode 100755
index d880ba6..0000000
--- a/src/libsc/k60/gyroscope.cpp
+++ /dev/null
@@ -1,112 +0,0 @@
-/*
- * gyroscope.cpp
- * Gyroscope
- *
- * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
- */
-
-#include <cstdint>
-
-#include <algorithm>
-
-#include "libbase/log.h"
-#include "libbase/k60/adc.h"
-#include "libbase/k60/pin.h"
-
-#include "libsc/config.h"
-#include "libsc/k60/gyroscope.h"
-
-using namespace libbase::k60;
-
-namespace libsc
-{
-namespace k60
-{
-
-#ifdef LIBSC_USE_GYRO
-
-namespace
-{
-
-#if LIBSC_USE_GYRO == 1
-inline Pin::Name GetPin(const uint8_t id)
-{
-	if (id != 0)
-	{
-		assert(false);
-	}
-	return LIBSC_GYRO0_ANGULAR;
-}
-
-#endif
-
-Adc::Config GetAdcConfig(const uint8_t id)
-{
-	Adc::Config config;
-	config.pin = GetPin(id);
-	config.resolution = Adc::Config::Resolution::k16Bit;
-	return config;
-}
-
-}
-
-Gyroscope::Gyroscope()
-		: Gyroscope(3)
-{}
-
-Gyroscope::Gyroscope(const Uint avg_size)
-		: m_pin(GetAdcConfig(0)),
-		  m_current(0),
-		  m_avg(0),
-		  m_values(nullptr),
-		  m_size(avg_size),
-		  m_index(0)
-{
-	if (m_size > 0)
-	{
-		m_values = new uint16_t[m_size];
-		std::fill(m_values, m_values + m_size, 0);
-	}
-}
-
-Gyroscope::~Gyroscope()
-{
-	delete[] m_values;
-}
-
-void Gyroscope::Update()
-{
-	m_current = m_pin.GetResult();
-	if (!m_values)
-	{
-		m_avg = m_current;
-	}
-	else
-	{
-		m_avg -= m_values[m_index] / (float)m_size;
-		m_avg += m_current / (float)m_size;
-		m_values[m_index] = m_current;
-
-		if (++m_index >= m_size)
-		{
-			m_index = 0;
-		}
-	}
-}
-
-#else
-Gyroscope::Gyroscope()
-		: m_pin(nullptr), m_current(0), m_avg(0), m_values(nullptr), m_size(0),
-		  m_index(0)
-{
-	LOG_DL("Configured not to use Gyroscope");
-}
-Gyroscope::Gyroscope(const Uint) : Gyroscope() {}
-Gyroscope::~Gyroscope() {}
-void Gyroscope::Update() {}
-
-#endif
-
-}
-}
diff --git a/src/libsc/k60/infra_red_sensor.cpp b/src/libsc/k60/infra_red_sensor.cpp
index efd7535..1a1f934 100755
--- a/src/libsc/k60/infra_red_sensor.cpp
+++ b/src/libsc/k60/infra_red_sensor.cpp
@@ -3,7 +3,8 @@
  * Infra-red sensor
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #include <cassert>
@@ -59,7 +60,7 @@ inline Pin::Name GetPin(const uint8_t id)
 #endif
 
 Gpi::Config GetGpiConfig(const uint8_t id,
-		const InfraRedSensor::OnDetectListener &listener)
+		const Gpi::OnGpiEventListener &listener)
 {
 	Gpi::Config config;
 	config.pin = GetPin(id);
@@ -67,37 +68,36 @@ Gpi::Config GetGpiConfig(const uint8_t id,
 	if (listener)
 	{
 		config.interrupt = Pin::Config::Interrupt::kRising;
-		config.isr = [&listener](Gpi*)
-				{
-					listener(id);
-				};
+		config.isr = listener;
 	}
 	return config;
 }
 
 }
 
-InfraRedSensor::InfraRedSensor(const uint8_t id,
-		const OnDetectListener &listener)
-		: m_pin(nullptr), m_isr(listener)
+InfraRedSensor::InfraRedSensor(const Config &config)
+		: m_isr(config.listener),
+		  m_pin(nullptr)
 {
-	m_pin = Gpi(GetGpiConfig(id, m_isr));
+	Gpi::OnGpiEventListener listener;
+	if (config.listener)
+	{
+		const uint8_t id = config.id;
+		listener = [this, id](Gpi*)
+				{
+					m_isr(id);
+				};
+	}
+	m_pin = Gpi(GetGpiConfig(config.id, listener));
 }
 
-InfraRedSensor::InfraRedSensor(const uint8_t id)
-		: InfraRedSensor(id, nullptr)
-{}
-
 bool InfraRedSensor::IsDetected() const
 {
 	return m_pin.Get();
 }
 
 #else
-InfraRedSensor::InfraRedSensor(const uint8_t, const OnDetectListener&)
-		: InfraRedSensor(0)
-{}
-InfraRedSensor::InfraRedSensor(const uint8_t)
+InfraRedSensor::InfraRedSensor(const Config&)
 		: m_pin(nullptr)
 {
 	LOG_DL("Configured not to use InfraRedSensor");
diff --git a/src/libsc/k60/joystick.cpp b/src/libsc/k60/joystick.cpp
index 0b88e21..01b38c1 100755
--- a/src/libsc/k60/joystick.cpp
+++ b/src/libsc/k60/joystick.cpp
@@ -1,9 +1,9 @@
 /*
  * joystick.cpp
- * Joystick
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #include <cassert>
@@ -28,21 +28,54 @@ namespace
 {
 
 #if LIBSC_USE_JOYSTICK == 1
-#define GetUpPin(x) LIBSC_JOYSTICK0_UP
-#define GetDownPin(x) LIBSC_JOYSTICK0_DOWN
-#define GetLeftPin(x) LIBSC_JOYSTICK0_LEFT
-#define GetRightPin(x) LIBSC_JOYSTICK0_RIGHT
-#define GetSelectPin(x) LIBSC_JOYSTICK0_SELECT
+inline Pin::Name GetUpPin(const uint8_t id)
+{
+	if (id != 0)
+	{
+		assert(false);
+	}
+	return LIBSC_JOYSTICK0_UP;
+}
 
-#endif
+inline Pin::Name GetDownPin(const uint8_t id)
+{
+	if (id != 0)
+	{
+		assert(false);
+	}
+	return LIBSC_JOYSTICK0_DOWN;
+}
+
+inline Pin::Name GetLeftPin(const uint8_t id)
+{
+	if (id != 0)
+	{
+		assert(false);
+	}
+	return LIBSC_JOYSTICK0_LEFT;
+}
+
+inline Pin::Name GetRightPin(const uint8_t id)
+{
+	if (id != 0)
+	{
+		assert(false);
+	}
+	return LIBSC_JOYSTICK0_RIGHT;
+}
+
+inline Pin::Name GetSelectPin(const uint8_t id)
+{
+	if (id != 0)
+	{
+		assert(false);
+	}
+	return LIBSC_JOYSTICK0_SELECT;
+}
 
-#if LIBSC_USE_JOYSTICK == 1 && defined(__GNUC__)
-#define UNUSED __attribute__((__unused__))
-#else
-#define UNUSED
 #endif
 
-Gpi::Config GetUpGpiConfig(const uint8_t id UNUSED)
+Gpi::Config GetUpGpiConfig(const uint8_t id)
 {
 	Gpi::Config config;
 	config.pin = GetUpPin(id);
@@ -50,7 +83,7 @@ Gpi::Config GetUpGpiConfig(const uint8_t id UNUSED)
 	return config;
 }
 
-Gpi::Config GetDownGpiConfig(const uint8_t id UNUSED)
+Gpi::Config GetDownGpiConfig(const uint8_t id)
 {
 	Gpi::Config config;
 	config.pin = GetDownPin(id);
@@ -58,7 +91,7 @@ Gpi::Config GetDownGpiConfig(const uint8_t id UNUSED)
 	return config;
 }
 
-Gpi::Config GetLeftGpiConfig(const uint8_t id UNUSED)
+Gpi::Config GetLeftGpiConfig(const uint8_t id)
 {
 	Gpi::Config config;
 	config.pin = GetLeftPin(id);
@@ -66,7 +99,7 @@ Gpi::Config GetLeftGpiConfig(const uint8_t id UNUSED)
 	return config;
 }
 
-Gpi::Config GetRightGpiConfig(const uint8_t id UNUSED)
+Gpi::Config GetRightGpiConfig(const uint8_t id)
 {
 	Gpi::Config config;
 	config.pin = GetRightPin(id);
@@ -74,7 +107,7 @@ Gpi::Config GetRightGpiConfig(const uint8_t id UNUSED)
 	return config;
 }
 
-Gpi::Config GetSelectGpiConfig(const uint8_t id UNUSED)
+Gpi::Config GetSelectGpiConfig(const uint8_t id)
 {
 	Gpi::Config config;
 	config.pin = GetSelectPin(id);
@@ -82,37 +115,36 @@ Gpi::Config GetSelectGpiConfig(const uint8_t id UNUSED)
 	return config;
 }
 
-#if LIBSC_USE_JOYSTICK == 1
-#pragma GCC diagnostic pop
-#endif
-
 }
 
-Joystick::Joystick(const uint8_t id)
-		: m_pins{Gpi(GetUpGpiConfig(id)), Gpi(GetDownGpiConfig(id)),
-				  Gpi(GetLeftGpiConfig(id)), Gpi(GetRightGpiConfig(id)),
-				  Gpi(GetSelectGpiConfig(id))}
+Joystick::Joystick(const Config &config)
+		: m_pins{Gpi(GetUpGpiConfig(config.id)),
+				Gpi(GetDownGpiConfig(config.id)),
+				Gpi(GetLeftGpiConfig(config.id)),
+				Gpi(GetRightGpiConfig(config.id)),
+				Gpi(GetSelectGpiConfig(config.id))},
+		  m_is_active_low(config.is_active_low)
 {}
 
 Joystick::State Joystick::GetState() const
 {
-	if (!m_pins[0].Get())
+	if (m_pins[0].Get() ^ m_is_active_low)
 	{
 		return State::UP;
 	}
-	else if (!m_pins[1].Get())
+	else if (m_pins[1].Get() ^ m_is_active_low)
 	{
 		return State::DOWN;
 	}
-	else if (!m_pins[2].Get())
+	else if (m_pins[2].Get() ^ m_is_active_low)
 	{
 		return State::LEFT;
 	}
-	else if (!m_pins[3].Get())
+	else if (m_pins[3].Get() ^ m_is_active_low)
 	{
 		return State::RIGHT;
 	}
-	else if (!m_pins[4].Get())
+	else if (m_pins[4].Get() ^ m_is_active_low)
 	{
 		return State::SELECT;
 	}
@@ -123,7 +155,7 @@ Joystick::State Joystick::GetState() const
 }
 
 #else
-Joystick::Joystick(const uint8_t)
+Joystick::Joystick(const Config&)
 		: m_pins{Gpi(nullptr), Gpi(nullptr), Gpi(nullptr), Gpi(nullptr),
 				  Gpi(nullptr)}
 {
diff --git a/src/libsc/k60/jy_mcu_bt_106.cpp b/src/libsc/k60/jy_mcu_bt_106.cpp
index 65f1343..c3c65c7 100755
--- a/src/libsc/k60/jy_mcu_bt_106.cpp
+++ b/src/libsc/k60/jy_mcu_bt_106.cpp
@@ -1,13 +1,18 @@
 /*
  * jy_mcu_bt_106.cpp
+ * JY-MCU BT Board v1.06
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
  * Refer to LICENSE for details
  */
 
+#include <cstdint>
+
+#include "libbase/k60/pin.h"
 #include "libbase/k60/uart.h"
 
+#include "libsc/config.h"
 #include "libsc/k60/jy_mcu_bt_106.h"
 
 using namespace libbase::k60;
@@ -17,20 +22,26 @@ namespace libsc
 namespace k60
 {
 
-JyMcuBt106::JyMcuBt106(const uint8_t id,
-		const Uart::Config::BaudRate baud_rate)
-		: UartDevice(UartConfigBuilder(id, baud_rate, this))
-{}
+namespace
+{
 
-Uart::Config JyMcuBt106::UartConfigBuilder::Build() const
+UartDevice::Config GetUartDeviceConfig(const JyMcuBt106::Config &config)
 {
-	Uart::Config config = UartDevice::UartConfigBuilder::Build();
+	UartDevice::Config product;
+	product.id = config.id;
+	product.baud_rate = config.baud_rate;
 	// On this board, there's a diode connected to the Tx pin, preventing the
 	// module to correctly send data to the MCU
-	config.rx_config[Pin::Config::kPullEnable] = true;
-	config.rx_config[Pin::Config::kPullUp] = true;
-	return config;
+	product.rx_config[Pin::Config::kPullEnable] = true;
+	product.rx_config[Pin::Config::kPullUp] = true;
+	return product;
 }
 
+}
+
+JyMcuBt106::JyMcuBt106(const Config &config)
+		: UartDevice(GetUartDeviceConfig(config))
+{}
+
 }
 }
diff --git a/src/libsc/k60/lcd_console.cpp b/src/libsc/k60/lcd_console.cpp
index a036d05..f31f856 100644
--- a/src/libsc/k60/lcd_console.cpp
+++ b/src/libsc/k60/lcd_console.cpp
@@ -3,7 +3,8 @@
  * Use the LCD screen as console
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #include <cstddef>
diff --git a/src/libsc/k60/led.cpp b/src/libsc/k60/led.cpp
index 54f96dd..cc884e7 100644
--- a/src/libsc/k60/led.cpp
+++ b/src/libsc/k60/led.cpp
@@ -2,7 +2,8 @@
  * led.cpp
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #include <cassert>
@@ -77,8 +78,8 @@ Gpo::Config GetGpoConfig(const uint8_t id)
 
 }
 
-Led::Led(const uint8_t id)
-		: m_pin(GetGpoConfig(id))
+Led::Led(const Config &config)
+		: m_pin(GetGpoConfig(config.id))
 {}
 
 void Led::SetEnable(const bool flag)
@@ -92,7 +93,7 @@ void Led::Switch()
 }
 
 #else
-Led::Led(const uint8_t)
+Led::Led(const Config&)
 		: m_pin(nullptr)
 {
 	LOG_DL("Configured not to use Led");
diff --git a/src/libsc/k60/light_sensor.cpp b/src/libsc/k60/light_sensor.cpp
old mode 100755
new mode 100644
index 89938e9..ae62ba5
--- a/src/libsc/k60/light_sensor.cpp
+++ b/src/libsc/k60/light_sensor.cpp
@@ -1,9 +1,9 @@
 /*
  * light_sensor.cpp
- * Light sensor
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #include <cassert>
@@ -58,50 +58,68 @@ inline Pin::Name GetPin(const uint8_t id)
 
 #endif
 
-Gpi::Config GetGpiConfig(const uint8_t id,
-		const LightSensor::OnDetectListener &listener)
+Gpi::Config GetGpiConfig(const LightSensor::Config &config,
+		const Gpi::OnGpiEventListener &listener)
 {
-	Gpi::Config config;
-	config.pin = GetPin(id);
-	config.config.set(Pin::Config::ConfigBit::kPassiveFilter);
+	Gpi::Config product;
+	product.pin = GetPin(config.id);
+	product.config.set(Pin::Config::ConfigBit::kPassiveFilter);
 	if (listener)
 	{
-		config.interrupt = Pin::Config::Interrupt::kRising;
-		config.isr = [&listener, id](Gpi*)
-				{
-					listener(id);
-				};
+		switch (config.listener_trigger)
+		{
+		default:
+		case LightSensor::Config::Trigger::kBright:
+			product.interrupt = (config.is_active_low
+					? Pin::Config::Interrupt::kFalling
+					: Pin::Config::Interrupt::kRising);
+			break;
+
+		case LightSensor::Config::Trigger::kDark:
+			product.interrupt = (config.is_active_low
+					? Pin::Config::Interrupt::kRising
+					: Pin::Config::Interrupt::kFalling);
+			break;
+
+		case LightSensor::Config::Trigger::kBoth:
+			product.interrupt = Pin::Config::Interrupt::kBoth;
+			break;
+		}
+		product.isr = listener;
 	}
-	return config;
+	return product;
 }
 
 }
 
-LightSensor::LightSensor(const uint8_t id, const OnDetectListener &listener)
-		: m_pin(nullptr), m_isr(listener)
+LightSensor::LightSensor(const Config &config)
+		: m_pin(nullptr),
+		  m_is_active_low(config.is_active_low)
 {
-	m_pin = Gpi(GetGpiConfig(id, m_isr));
+	Gpi::OnGpiEventListener listener;
+	if (config.listener)
+	{
+		const uint8_t id = config.id;
+		listener = [this, id](Gpi*)
+				{
+					m_isr(id);
+				};
+	}
+	m_pin = Gpi(GetGpiConfig(config, listener));
 }
 
-LightSensor::LightSensor(const uint8_t id)
-		: LightSensor(id, nullptr)
-{}
-
-bool LightSensor::IsDetected() const
+bool LightSensor::IsBright() const
 {
-	return m_pin.Get();
+	return (m_pin.Get() ^ m_is_active_low);
 }
 
 #else
-LightSensor::LightSensor(const uint8_t, const OnDetectListener&)
-		: LightSensor(0)
-{}
-LightSensor::LightSensor(const uint8_t)
-		: m_pin(nullptr)
+LightSensor::LightSensor(const Config&)
+		: m_pin(nullptr), m_is_active_low(false)
 {
 	LOG_DL("Configured not to use LightSensor");
 }
-bool LightSensor::IsDetected() const { return false; }
+bool LightSensor::IsBright() const { return false; }
 
 #endif
 
diff --git a/src/libsc/k60/linear_ccd.cpp b/src/libsc/k60/linear_ccd.cpp
index 9f2606b..a5e2954 100755
--- a/src/libsc/k60/linear_ccd.cpp
+++ b/src/libsc/k60/linear_ccd.cpp
@@ -3,7 +3,8 @@
  * Linear CCD (for TSL1401CL)
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #include <cassert>
diff --git a/src/libsc/k60/motor.cpp b/src/libsc/k60/motor.cpp
index e2e6397..aded40e 100755
--- a/src/libsc/k60/motor.cpp
+++ b/src/libsc/k60/motor.cpp
@@ -2,7 +2,7 @@
  * motor.cpp
  *
  * Author: Harrison Ng, Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
  * Refer to LICENSE for details
  */
 
diff --git a/src/libsc/k60/mpu6050.cpp b/src/libsc/k60/mpu6050.cpp
new file mode 100644
index 0000000..78ccced
--- /dev/null
+++ b/src/libsc/k60/mpu6050.cpp
@@ -0,0 +1,155 @@
+/*
+ * mpu6050.cpp
+ *
+ * Author: Harrison Ng
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
+ */
+
+#include "libbase/k60/hardware.h"
+
+#include <cstdint>
+#include <array>
+#include <vector>
+
+#include "libbase/log.h"
+#include "libbase/k60/soft_i2c_master.h"
+
+#include "libsc/config.h"
+#include "libsc/device_h/mpu6050.h"
+#include "libsc/k60/mpu6050.h"
+#include "libutil/misc.h"
+
+using namespace libbase::k60;
+using namespace std;
+
+namespace libsc
+{
+namespace k60
+{
+
+#ifdef LIBSC_USE_MPU6050
+
+namespace
+{
+
+SoftI2cMaster::Config GetI2CConfig()
+{
+	SoftI2cMaster::Config config;
+	config.scl_pin = LIBSC_MPU6050_SCL;
+	config.sda_pin = LIBSC_MPU6050_SDA;
+	return config;
+}
+
+}
+
+Mpu6050::Mpu6050(const Config &config)
+		: m_i2c(GetI2CConfig()),
+		  m_gyro_range(config.gyro_range),
+		  m_accel_range(config.accel_range)
+{
+	m_i2c.SendByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_PWR_MGMT_1, 0x00);
+
+	//Register 25 – Sample Rate Divider: Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV)
+	//Gyroscope Output Rate = 8kHz when the DLPF is disabled (DLPF_CFG = 0 or 7)
+	m_i2c.SendByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_SMPLRT_DIV, 0x00);
+
+	//Register 26 - CONFIG: EXT_SYNC_SET[2:0]<<3 | DLPF_CFG[2:0];
+	//EXT_SYNC_SET=0, Input disabled;
+	//DLPF_CFG=0, Accel = 260Hz, Gyroscope = 256Hz;
+	m_i2c.SendByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_CONFIG, 0x00);
+
+	//Register 27 - GYRO_CONFIG: FS_SEL[1:0] << 3;
+	//FS_SEL=0, ± 250 °/s; FS_SEL=1, ± 500 °/s; FS_SEL=2, ± 1000 °/s; FS_SEL=3, ± 2000 °/s;
+	uint8_t gyro_config = static_cast<int>(m_gyro_range) << 3;
+	m_i2c.SendByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_GYRO_CONFIG, gyro_config);
+
+	//Register 28 - ACCEL_CONFIG: AFS_SEL[1:0] << 3;
+	//AFS_SEL=0, ±2g; AFS_SEL=1, ±4g; AFS_SEL=2, ±8g; AFS_SEL=3, ±16g;
+	uint8_t accel_config = static_cast<int>(m_accel_range) << 3;
+	m_i2c.SendByte(MPU6050_DEFAULT_ADDRESS, MPU6050_RA_ACCEL_CONFIG,
+			accel_config);
+}
+
+float Mpu6050::GetGyroScaleFactor()
+{
+	switch (m_gyro_range)
+	{
+	default:
+		LOG_EL("Mpu6050 Gyro in illegal state");
+	case Config::Range::kSmall:
+		return 131.0f;
+
+	case Config::Range::kMid:
+		return 65.5f;
+
+	case Config::Range::kLarge:
+		return 32.8f;
+
+	case Config::Range::kExtreme:
+		return 16.4f;
+	}
+}
+
+float Mpu6050::GetAccelScaleFactor()
+{
+	switch (m_accel_range)
+	{
+	default:
+		LOG_EL("Mpu6050 Accel in illegal state");
+	case Config::Range::kSmall:
+		return 16384.0f;
+
+	case Config::Range::kMid:
+		return 8192.0f;
+
+	case Config::Range::kLarge:
+		return 4096.0f;
+
+	case Config::Range::kExtreme:
+		return 2048.0f;
+	}
+}
+
+void Mpu6050::Update()
+{
+	const vector<Byte> &data = m_i2c.GetBytes(MPU6050_DEFAULT_ADDRESS,
+			MPU6050_RA_ACCEL_XOUT_H, 14);
+	int16_t raw_accel[3];
+	int16_t raw_gyro[3];
+	for (size_t i = 0; i < data.size(); i += 2)
+	{
+		if (i <= 5)
+		{
+			const int j = i / 2;
+			raw_accel[j] = data[i] << 8 | data[i + 1];
+			m_accel[j] = (float)raw_accel[j] / GetAccelScaleFactor();
+		}
+		else if (i == 6)
+		{
+			const int16_t raw_temp = data[i] << 8 | data[i + 1];
+			m_temp = (float)raw_temp / 340 + 36.53;
+		}
+		else
+		{
+			const int j = (i - 8) / 2;
+			raw_gyro[j] = data[i] << 8 | data[i + 1];
+			m_omega[j] = (float)raw_gyro[j] / GetGyroScaleFactor();
+		}
+	}
+}
+
+#else
+Mpu6050::Mpu6050(const Config&)
+		: m_i2c(nullptr), m_temp(0),
+		  m_gyro_range(Config::Range::kSmall),
+		  m_accel_range(Config::Range::kSmall)
+{
+	LOG_DL("Configured not to use Mpu6050");
+}
+void Mpu6050::Update() {}
+
+#endif /* LIBSC_USE_MPU6050 */
+
+} /* namespace k60 */
+} /* namespace libsc */
diff --git a/src/libsc/k60/pit_delay.cpp b/src/libsc/k60/pit_delay.cpp
index 85a1a12..50e0f6e 100755
--- a/src/libsc/k60/pit_delay.cpp
+++ b/src/libsc/k60/pit_delay.cpp
@@ -2,7 +2,8 @@
  * pit_delay.cpp
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #include <cstdint>
diff --git a/src/libsc/k60/pit_timer.cpp b/src/libsc/k60/pit_timer.cpp
index 18d4c02..6e0ab11 100644
--- a/src/libsc/k60/pit_timer.cpp
+++ b/src/libsc/k60/pit_timer.cpp
@@ -2,7 +2,8 @@
  * timer.cpp
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #include <cstdint>
diff --git a/src/libsc/k60/servo.cpp b/src/libsc/k60/servo.cpp
index becafad..be79682 100644
--- a/src/libsc/k60/servo.cpp
+++ b/src/libsc/k60/servo.cpp
@@ -3,7 +3,8 @@
  * RC servo
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #include <cassert>
@@ -113,12 +114,11 @@ FtmPwm::Config GetPwmConfig(const uint8_t id, const uint16_t period,
 
 }
 
-Servo::Servo(const uint8_t id, const uint16_t period,
-		const uint16_t pos_width_min, const uint16_t pos_width_max)
-		: m_pos_width_min(pos_width_min),
-		  m_pos_width_diff(pos_width_max - pos_width_min),
-		  m_pwm(GetPwmConfig(id, period,
-				  (pos_width_max - pos_width_min) / 2 + pos_width_min)),
+Servo::Servo(const Config &config)
+		: m_pos_width_min(config.min_pos_width),
+		  m_pos_width_diff(config.max_pos_width - config.min_pos_width),
+		  m_pwm(GetPwmConfig(config.id, config.period,
+				  m_pos_width_diff / 2 + m_pos_width_min)),
 		  m_degree(900)
 {}
 
@@ -137,7 +137,7 @@ void Servo::SetDegree(const uint16_t degree)
 }
 
 #else
-Servo::Servo(const uint8_t, const uint16_t, const uint16_t, const uint16_t)
+Servo::Servo(const Config&)
 		: m_pos_width_min(0), m_pos_width_diff(0), m_degree(0)
 {
 	LOG_DL("Configured not to use Servo");
diff --git a/src/libsc/k60/simple_buzzer.cpp b/src/libsc/k60/simple_buzzer.cpp
index df6ac19..42857d5 100755
--- a/src/libsc/k60/simple_buzzer.cpp
+++ b/src/libsc/k60/simple_buzzer.cpp
@@ -3,7 +3,8 @@
  * Simple Buzzer
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #include <cassert>
diff --git a/src/libsc/k60/spi_device.cpp b/src/libsc/k60/spi_device.cpp
deleted file mode 100755
index fd8d7f0..0000000
--- a/src/libsc/k60/spi_device.cpp
+++ /dev/null
@@ -1,146 +0,0 @@
-/*
- * spi_device.cpp
- *
- * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
- */
-
-#include <cstddef>
-#include <cstdint>
-#include <cstring>
-
-#include <functional>
-#include <list>
-#include <memory>
-#include <string>
-#include <vector>
-
-#include "libbase/k60/misc_utils.h"
-#include "libbase/k60/spi_master.h"
-
-#include "libsc/k60/spi_device.h"
-#include "libutil/dynamic_block_buffer.h"
-
-using namespace libbase::k60;
-using namespace libutil;
-using namespace std;
-
-#define BLOCK_SIZE 64
-
-namespace libsc
-{
-namespace k60
-{
-
-namespace
-{
-
-SpiMaster::Config GetSpiConfig(const SpiMaster::Config &config,
-		const SpiMaster::OnTxFillListener &tx_isr,
-		const SpiMaster::OnRxDrainListener &rx_isr)
-{
-	SpiMaster::Config product = config;
-	product.tx_isr = tx_isr;
-	product.rx_isr = rx_isr;
-	return product;
-}
-
-}
-
-SpiDevice::SpiDevice(const SpiMaster::Config &config)
-		: m_tx_buf(28),
-		  m_spi(GetSpiConfig(config,
-				  std::bind(&SpiDevice::OnTxFill, this, placeholders::_1),
-				  std::bind(&SpiDevice::OnRxDrain, this, placeholders::_1)))
-{}
-
-SpiDevice::SpiDevice(SpiDevice&&)
-		: SpiDevice(nullptr)
-{
-	// TODO
-	//*this = std::move(rhs);
-}
-
-SpiDevice::SpiDevice(nullptr_t)
-		: m_tx_buf(0),
-		  m_spi(nullptr)
-{}
-
-SpiDevice::~SpiDevice()
-{}
-
-void SpiDevice::SendBuffer(const Byte *buf, const size_t len)
-{
-	if (len == 0)
-	{
-		return;
-	}
-	Byte *data = new Byte[len];
-	memcpy(data, buf, len);
-
-	m_tx_buf.PushBuffer(DynamicBlockBuffer::Block(data, len));
-	m_spi.KickStart();
-}
-
-void SpiDevice::SendBuffer(unique_ptr<Byte[]> &&buf, const size_t len)
-{
-	if (len == 0)
-	{
-		return;
-	}
-
-	m_tx_buf.PushBuffer(DynamicBlockBuffer::Block(buf.release(), len));
-	m_spi.KickStart();
-}
-
-void SpiDevice::SendBuffer(vector<Byte> &&buf)
-{
-	if (buf.size() == 0)
-	{
-		return;
-	}
-
-	m_tx_buf.PushBuffer(DynamicBlockBuffer::Block(new vector<Byte>(std::move(buf))));
-	m_spi.KickStart();
-}
-
-void SpiDevice::OnTxFill(SpiMaster *spi)
-{
-	volatile DynamicBlockBuffer::Block *block = m_tx_buf.GetActiveBlock();
-	if (m_tx_buf.GetSize() == 0 && (!block || block->it == block->size))
-	{
-		return;
-	}
-
-	while (!block || block->it == block->size)
-	{
-		m_tx_buf.Acquire();
-		block = m_tx_buf.GetActiveBlock();
-	}
-
-	const size_t size = block->size - block->it;
-	switch (block->type)
-	{
-	case DynamicBlockBuffer::Block::kByteAry:
-		block->it += spi->PushData(0, block->data.byte_ + block->it, size);
-		break;
-
-	case DynamicBlockBuffer::Block::kString:
-		block->it += spi->PushData(0, (const Byte*)block->data.string_->data()
-				+ block->it, size);
-		break;
-
-	case DynamicBlockBuffer::Block::kVector:
-		block->it += spi->PushData(0, block->data.vector_->data() + block->it,
-				size);
-		break;
-	}
-}
-
-void SpiDevice::OnRxDrain(SpiMaster*)
-{
-	// TODO
-}
-
-}
-}
diff --git a/src/libsc/k60/st7735r.cpp b/src/libsc/k60/st7735r.cpp
index 12a997e..41db1a9 100644
--- a/src/libsc/k60/st7735r.cpp
+++ b/src/libsc/k60/st7735r.cpp
@@ -2,7 +2,8 @@
  * st7735r.cpp
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 /*
  * Author: Henry
@@ -17,6 +18,7 @@
 #include "libbase/k60/soft_spi_master.h"
 
 #include "libsc/config.h"
+#include "libsc/device_h/st7735r.h"
 #include "libsc/k60/st7735r.h"
 #include "libsc/k60/system.h"
 #include "libsc/lcd_font.h"
@@ -25,24 +27,6 @@
 #define SEND_COMMAND(dat) Send(true, dat)
 #define SEND_DATA(dat) Send(false, dat)
 
-#define CMD_SW_RESET 0x01
-#define CMD_SLEEP_OUT 0x11
-#define CMD_DISPLAY_ON 0x29
-#define CMD_COLUMN_ADDRESS_SET 0x2A
-#define CMD_ROW_ADDRESS_SET 0x2B
-#define CMD_MEMORY_WRITE 0x2C
-#define CMD_MEM_DATA_ACCESS_CTRL 0x36
-#define CMD_PIXEL_FORMAT 0x3A
-#define CMD_FRAME_RATE_CTRL_NORMAL 0xB1
-#define CMD_POWER_CTRL1 0xC0
-#define CMD_POWER_CTRL2 0xC1
-#define CMD_POWER_CTRL3 0xC2
-#define CMD_POWER_CTRL4 0xC3
-#define CMD_POWER_CTRL5 0xC4
-#define CMD_VCOM_CTRL 0xC5
-#define CMD_GAMMA_CORRECTION_POS_POLARITY 0xE0
-#define CMD_GAMMA_CORRECTION_NEG_POLARITY 0xE1
-
 using namespace libbase::k60;
 using namespace std;
 
@@ -90,63 +74,61 @@ Gpo::Config GetDcConfig()
 
 }
 
-St7735r::St7735r()
-		: St7735r(false)
-{}
-
-St7735r::St7735r(const bool is_revert)
+St7735r::St7735r(const Config &config)
 		: m_spi(GetSpiConfig()),
 		  m_rst(GetRstConfig()),
 		  m_dc(GetDcConfig()),
 
 		  m_bg_color(0)
 {
-#ifdef LIBSC_USE_LCD_HW_SPI
-	spi_init(SpiUtils::GetSpiModule<LIBSC_LCD_SCLK, LIBSC_LCD_MOSI, LIBSC_LCD_MISO, LIBSC_LCD_CS>(),
-			SpiUtils::GetSpiPcs<LIBSC_LCD_SCLK, LIBSC_LCD_MOSI, LIBSC_LCD_MISO, LIBSC_LCD_CS>(),
-			MASTER, SPI_MOSI_FLAG, 12000000u);
-#endif
-
 	Clear();
-	SEND_COMMAND(CMD_SW_RESET);
+	SEND_COMMAND(ST7735R_SWRESET);
 	System::DelayMs(10);
 
-	SEND_COMMAND(CMD_SLEEP_OUT);
+	SEND_COMMAND(ST7735R_SLPOUT);
 	System::DelayMs(120);
 
-	SEND_COMMAND(CMD_MEM_DATA_ACCESS_CTRL);
-	SEND_DATA(is_revert ? 0x08 : 0xC8);
+	uint8_t madctl_reg = 0;
+	if (!config.is_revert)
+	{
+		madctl_reg |= 0xC0;
+	}
+#ifdef LIBSC_ST7735R_BGR_PANEL
+	madctl_reg |= 0x08;
+#endif
+	SEND_COMMAND(ST7735R_MADCTL);
+	SEND_DATA(madctl_reg);
 
 	// 16-bit
-	SEND_COMMAND(CMD_PIXEL_FORMAT);
+	SEND_COMMAND(ST7735R_COLMOD);
 	SEND_DATA(0x55);
 
 	// ~60Hz
-	SEND_COMMAND(CMD_FRAME_RATE_CTRL_NORMAL);
+	SEND_COMMAND(ST7735R_FRMCTRL1);
 	SEND_DATA(0x05);
 	SEND_DATA(0x3C);
 	SEND_DATA(0x3C);
 
-	SEND_COMMAND(CMD_POWER_CTRL1);
+	SEND_COMMAND(ST7735R_PWCTR1);
 	SEND_DATA(0xA2);
 	SEND_DATA(0x02);
 	SEND_DATA(0x84);
-	SEND_COMMAND(CMD_POWER_CTRL2);
+	SEND_COMMAND(ST7735R_PWCTR2);
 	SEND_DATA(0xC5);
-	SEND_COMMAND(CMD_POWER_CTRL3);
+	SEND_COMMAND(ST7735R_PWCTR3);
 	SEND_DATA(0x0A);
 	SEND_DATA(0x00);
-	SEND_COMMAND(CMD_POWER_CTRL4);
+	SEND_COMMAND(ST7735R_PWCTR4);
 	SEND_DATA(0x8A);
 	SEND_DATA(0x2A);
-	SEND_COMMAND(CMD_POWER_CTRL5);
+	SEND_COMMAND(ST7735R_PWCTR5);
 	SEND_DATA(0x8A);
 	SEND_DATA(0xEE);
 
-	SEND_COMMAND(CMD_VCOM_CTRL);
+	SEND_COMMAND(ST7735R_VMCTR1);
 	SEND_DATA(0x0E);
 
-	SEND_COMMAND(CMD_GAMMA_CORRECTION_POS_POLARITY);
+	SEND_COMMAND(ST7735R_GMCTRP1);
 	SEND_DATA(0x02);
 	SEND_DATA(0x1C);
 	SEND_DATA(0x07);
@@ -164,7 +146,7 @@ St7735r::St7735r(const bool is_revert)
 	SEND_DATA(0x03);
 	SEND_DATA(0x10);
 
-	SEND_COMMAND(CMD_GAMMA_CORRECTION_NEG_POLARITY);
+	SEND_COMMAND(ST7735R_GMCTRN1);
 	SEND_DATA(0x03);
 	SEND_DATA(0x1D);
 	SEND_DATA(0x07);
@@ -184,7 +166,7 @@ St7735r::St7735r(const bool is_revert)
 
 	SetActiveRect(0, 0, kW, kH);
 
-	SEND_COMMAND(CMD_DISPLAY_ON);
+	SEND_COMMAND(ST7735R_DISPON);
 	System::DelayMs(10);
 }
 
@@ -202,7 +184,7 @@ void St7735r::DrawGrayscalePixelBuffer(const uint8_t x, const uint8_t y,
 		const uint8_t w, const uint8_t h, const uint8_t *pixel)
 {
 	SetActiveRect(x, y, w, h);
-	SEND_COMMAND(CMD_MEMORY_WRITE);
+	SEND_COMMAND(ST7735R_RAMWR);
 	const Uint area = w * h;
 	for (Uint i = 0; i < area; ++i)
 	{
@@ -216,7 +198,7 @@ void St7735r::DrawPixelBuffer(const uint8_t x, const uint8_t y, const uint8_t w,
 		const uint8_t h, const uint16_t *pixel)
 {
 	SetActiveRect(x, y, w, h);
-	SEND_COMMAND(CMD_MEMORY_WRITE);
+	SEND_COMMAND(ST7735R_RAMWR);
 	const Uint area = w * h;
 	for (Uint i = 0; i < area; ++i)
 	{
@@ -230,7 +212,7 @@ void St7735r::DrawPixelBuffer(const uint8_t x, const uint8_t y, const uint8_t w,
 		const bool *data)
 {
 	SetActiveRect(x, y, w, h);
-	SEND_COMMAND(CMD_MEMORY_WRITE);
+	SEND_COMMAND(ST7735R_RAMWR);
 	const Uint area = w * h;
 	for (Uint i = 0; i < area; ++i)
 	{
@@ -251,7 +233,7 @@ void St7735r::DrawPixel(const uint8_t x, const uint8_t y, const uint8_t w,
 		const uint8_t h, const uint16_t color)
 {
 	SetActiveRect(x, y, w, h);
-	SEND_COMMAND(CMD_MEMORY_WRITE);
+	SEND_COMMAND(ST7735R_RAMWR);
 	const Uint area = w * h;
 	for (Uint i = 0; i < area; ++i)
 	{
@@ -294,7 +276,7 @@ void St7735r::DrawChar(const uint8_t x, const uint8_t y, const char ch,
 void St7735r::SetActiveRect(const uint8_t x, const uint8_t y, const uint8_t w,
 		const uint8_t h)
 {
-	SEND_COMMAND(CMD_COLUMN_ADDRESS_SET);
+	SEND_COMMAND(ST7735R_CASET);
 	// start
 	SEND_DATA(0x00);
 	SEND_DATA(x);
@@ -302,7 +284,7 @@ void St7735r::SetActiveRect(const uint8_t x, const uint8_t y, const uint8_t w,
 	SEND_DATA(0x00);
 	SEND_DATA(x + w - 1);
 
-	SEND_COMMAND(CMD_ROW_ADDRESS_SET);
+	SEND_COMMAND(ST7735R_RASET);
 	SEND_DATA(0x00);
 	SEND_DATA(y);
 	SEND_DATA(0x00);
@@ -316,12 +298,11 @@ void St7735r::Send(const bool is_cmd, const uint8_t data)
 }
 
 #else
-St7735r::St7735r()
+St7735r::St7735r(const Config&)
 		: m_spi(nullptr), m_rst(nullptr), m_dc(nullptr), m_bg_color(0)
 {
 	LOG_DL("Configured not to use St7735r(LCD)");
 }
-St7735r::St7735r(const bool) : St7735r() {}
 void St7735r::Clear() {}
 void St7735r::DrawPixel(const uint8_t, const uint8_t, const uint8_t,
 		const uint8_t, const uint16_t) {}
diff --git a/src/libsc/k60/switch.cpp b/src/libsc/k60/switch.cpp
index a41d4fb..cd5f75a 100755
--- a/src/libsc/k60/switch.cpp
+++ b/src/libsc/k60/switch.cpp
@@ -1,9 +1,9 @@
 /*
  * switch.cpp
- * Switch
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #include <cassert>
@@ -86,18 +86,19 @@ Gpi::Config GetGpiConfig(const uint8_t id)
 
 }
 
-Switch::Switch(const uint8_t id)
-		: m_pin(GetGpiConfig(id))
+Switch::Switch(const Config &config)
+		: m_pin(GetGpiConfig(config.id)),
+		  m_is_active_low(config.is_active_low)
 {}
 
 bool Switch::IsOn() const
 {
-	return m_pin.Get();
+	return (m_pin.Get() ^ m_is_active_low);
 }
 
 #else
-Switch::Switch(const uint8_t)
-		: m_pin(nullptr)
+Switch::Switch(const Config&)
+		: m_pin(nullptr), m_is_active_low(false)
 {
 	LOG_DL("Configured not to use Switch");
 }
diff --git a/src/libsc/k60/sys_tick_delay.cpp b/src/libsc/k60/sys_tick_delay.cpp
index ff36afe..307b635 100755
--- a/src/libsc/k60/sys_tick_delay.cpp
+++ b/src/libsc/k60/sys_tick_delay.cpp
@@ -2,7 +2,8 @@
  * sys_tick_delay.cpp
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #include <cstdint>
diff --git a/src/libsc/k60/sys_tick_timer.cpp b/src/libsc/k60/sys_tick_timer.cpp
index fd2ce8f..b932a33 100755
--- a/src/libsc/k60/sys_tick_timer.cpp
+++ b/src/libsc/k60/sys_tick_timer.cpp
@@ -2,7 +2,8 @@
  * sys_tick_timer.cpp
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #include <cstdint>
diff --git a/src/libsc/k60/system.cpp b/src/libsc/k60/system.cpp
index a0069da..92b6691 100755
--- a/src/libsc/k60/system.cpp
+++ b/src/libsc/k60/system.cpp
@@ -2,7 +2,8 @@
  * system.cpp
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #include "libbase/k60/watchdog.h"
@@ -21,6 +22,7 @@ System *System::m_instance = nullptr;
 
 System::System()
 		: //m_watchdog(GetWatchdogConfig()),
+		  m_delay(),
 		  m_timer()
 {}
 
diff --git a/src/libsc/k60/tower_pro_mg995.cpp b/src/libsc/k60/tower_pro_mg995.cpp
index b84d050..a17bafd 100755
--- a/src/libsc/k60/tower_pro_mg995.cpp
+++ b/src/libsc/k60/tower_pro_mg995.cpp
@@ -3,7 +3,7 @@
  * TowerPro MG995 RC servo
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
  * Refer to LICENSE for details
  */
 
@@ -20,8 +20,23 @@ namespace libsc
 namespace k60
 {
 
-TowerProMg995::TowerProMg995(const uint8_t id)
-		: Servo(id, PERIOD, POS_WIDTH_MIN, POS_WIDTH_MAX)
+namespace
+{
+
+Servo::Config GetServoConfig(const uint8_t id)
+{
+	Servo::Config config;
+	config.id = id;
+	config.period = PERIOD;
+	config.min_pos_width = POS_WIDTH_MIN;
+	config.max_pos_width = POS_WIDTH_MAX;
+	return config;
+}
+
+}
+
+TowerProMg995::TowerProMg995(const Config &config)
+		: Servo(GetServoConfig(config.id))
 {}
 
 }
diff --git a/src/libsc/k60/trs_d05.cpp b/src/libsc/k60/trs_d05.cpp
index 3baf106..c6a216a 100755
--- a/src/libsc/k60/trs_d05.cpp
+++ b/src/libsc/k60/trs_d05.cpp
@@ -3,7 +3,8 @@
  * TRS-D05 RC servo
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #include <cstdint>
@@ -20,8 +21,23 @@ namespace libsc
 namespace k60
 {
 
-TrsD05::TrsD05(const uint8_t id)
-		: Servo(id, PERIOD, POS_WIDTH_MIN, POS_WIDTH_MAX)
+namespace
+{
+
+Servo::Config GetServoConfig(const uint8_t id)
+{
+	Servo::Config config;
+	config.id = id;
+	config.period = PERIOD;
+	config.min_pos_width = POS_WIDTH_MIN;
+	config.max_pos_width = POS_WIDTH_MAX;
+	return config;
+}
+
+}
+
+TrsD05::TrsD05(const Config &config)
+		: Servo(GetServoConfig(config.id))
 {}
 
 }
diff --git a/src/libsc/k60/uart_device.cpp b/src/libsc/k60/uart_device.cpp
index ff1e6b7..4dd562e 100644
--- a/src/libsc/k60/uart_device.cpp
+++ b/src/libsc/k60/uart_device.cpp
@@ -2,7 +2,7 @@
  * uart_device.cpp
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
  * Refer to LICENSE for details
  */
 
@@ -108,43 +108,33 @@ inline Pin::Name GetRxPin(const uint8_t id)
 
 #endif
 
-Uart::Config GetUartConfig(const uint8_t id,
-		const Uart::Config::BaudRate baud_rate,
+Uart::Config GetUartConfig(const UartDevice::Config &config,
 		const Uart::OnTxEmptyListener &tx_isr,
 		const Uart::OnRxFullListener &rx_isr)
 {
-	Uart::Config config;
-	config.tx_pin = GetTxPin(id);
-	config.rx_pin = GetRxPin(id);
-	config.baud_rate = baud_rate;
-	config.config.set(Uart::Config::ConfigBit::kFifo);
-	config.tx_isr = tx_isr;
-	config.rx_isr = rx_isr;
-	return config;
+	Uart::Config product;
+	product.tx_pin = GetTxPin(config.id);
+	product.tx_config = config.tx_config;
+	product.rx_pin = GetRxPin(config.id);
+	product.rx_config = config.rx_config;
+	product.baud_rate = config.baud_rate;
+	product.config.set(Uart::Config::ConfigBit::kFifo);
+	product.tx_isr = tx_isr;
+	product.rx_isr = rx_isr;
+	product.rx_irq_threshold = config.rx_irq_threshold;
+	product.is_rx_irq_threshold_percentage =
+			config.is_rx_irq_threshold_percentage;
+	return product;
 }
 
 }
 
-UartDevice::UartConfigBuilder::UartConfigBuilder(const uint8_t id,
-		const Uart::Config::BaudRate baud_rate, UartDevice *uart)
-		: m_config(GetUartConfig(id, baud_rate,
-				std::bind(&UartDevice::OnTxEmpty, uart, placeholders::_1),
-				std::bind(&UartDevice::OnRxFull, uart, placeholders::_1)))
-{}
-
-Uart::Config UartDevice::UartConfigBuilder::Build() const
-{
-	return m_config;
-}
-
-UartDevice::UartDevice(const uint8_t id, const Uart::Config::BaudRate baud_rate)
-		: UartDevice(UartConfigBuilder(id, baud_rate, this))
-{}
-
-UartDevice::UartDevice(const UartConfigBuilder &builder)
+UartDevice::UartDevice(const Config &config)
 		: m_rx_buf{new RxBuffer}, m_listener(nullptr),
 		  m_tx_buf(14), m_is_tx_idle(true),
-		  m_uart(builder.Build())
+		  m_uart(GetUartConfig(config,
+				std::bind(&UartDevice::OnTxEmpty, this, placeholders::_1),
+				std::bind(&UartDevice::OnRxFull, this, placeholders::_1)))
 {
 	m_uart.SetEnableRxIrq(true);
 	m_uart.SetEnableTxIrq(true);
@@ -341,7 +331,7 @@ void UartDevice::OnRxFull(Uart *uart)
 struct UartDevice::RxBuffer
 {};
 
-UartDevice::UartDevice(const uint8_t, const Uart::Config::BaudRate)
+UartDevice::UartDevice(const Config&)
 		: m_tx_buf(0), m_is_tx_idle(true), m_uart(nullptr)
 {
 	LOG_DL("Configured not to use UartDevice");
diff --git a/src/libsc/lib_guard.cpp b/src/libsc/lib_guard.cpp
index fa7ea4a..4400fa4 100755
--- a/src/libsc/lib_guard.cpp
+++ b/src/libsc/lib_guard.cpp
@@ -2,7 +2,8 @@
  * libsc_guard.cpp
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #include "libsc/lib_guard.h"
diff --git a/src/libutil/dynamic_block_buffer.cpp b/src/libutil/dynamic_block_buffer.cpp
index 99dad57..904a9c3 100755
--- a/src/libutil/dynamic_block_buffer.cpp
+++ b/src/libutil/dynamic_block_buffer.cpp
@@ -2,7 +2,8 @@
  * dynamic_block_buffer.cpp
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #include <cstddef>
diff --git a/src/libutil/kalman_filter.cpp b/src/libutil/kalman_filter.cpp
index e0ade32..2e9c46e 100755
--- a/src/libutil/kalman_filter.cpp
+++ b/src/libutil/kalman_filter.cpp
@@ -2,7 +2,8 @@
  * kalman_filter.h
  *
  * Author: Tommy Wong
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #include "libutil/kalman_filter.h"
diff --git a/src/libutil/looper.cpp b/src/libutil/looper.cpp
new file mode 100755
index 0000000..d5c8224
--- /dev/null
+++ b/src/libutil/looper.cpp
@@ -0,0 +1,83 @@
+/*
+ * looper.cpp
+ *
+ * Author: Ming Tsang
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
+ */
+
+#include <functional>
+#include <list>
+
+#include "libsc/k60/system.h"
+#include "libsc/k60/timer.h"
+#include "libutil/looper.h"
+
+using namespace libsc::k60;
+using namespace std;
+
+namespace libutil
+{
+
+struct Looper::RunnerState
+{
+	Timer::TimerInt request;
+	Timer::TimerInt start;
+	Callback callback;
+};
+
+Looper::Looper()
+		: m_is_run(true)
+{}
+
+Looper::~Looper()
+{}
+
+void Looper::Loop()
+{
+	Timer::TimerInt prev = System::Time();
+	while (m_is_run)
+	{
+		const Timer::TimerInt now = System::Time();
+		if (now != prev)
+		{
+			Invoke();
+			prev = now;
+		}
+	}
+}
+
+void Looper::Invoke()
+{
+	list<RunnerState>::iterator it = m_states.begin();
+	while (it != m_states.end())
+	{
+		const Timer::TimerInt duration = Timer::TimeDiff(System::Time(),
+				it->start);
+		if (duration >= it->request)
+		{
+			it->callback(it->request, duration);
+			it = m_states.erase(it);
+		}
+		else
+		{
+			++it;
+		}
+	}
+}
+
+void Looper::Break()
+{
+	m_is_run = false;
+}
+
+void Looper::RunAfter(const Timer::TimerInt ms, const Callback &c)
+{
+	RunnerState rs;
+	rs.request = ms;
+	rs.start = System::Time();
+	rs.callback = c;
+	m_states.push_back(std::move(rs));
+}
+
+}
diff --git a/src/libutil/misc.cpp b/src/libutil/misc.cpp
index e68b17b..3b0cf40 100644
--- a/src/libutil/misc.cpp
+++ b/src/libutil/misc.cpp
@@ -3,7 +3,8 @@
  * Misc util
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #include <cstdint>
diff --git a/src/libutil/remote_var_manager.cpp b/src/libutil/remote_var_manager.cpp
index faf4017..6ab966a 100755
--- a/src/libutil/remote_var_manager.cpp
+++ b/src/libutil/remote_var_manager.cpp
@@ -2,7 +2,7 @@
  * remote_var_manager.cpp
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
  * Refer to LICENSE for details
  */
 
diff --git a/src/libutil/string.cpp b/src/libutil/string.cpp
index 69f77ac..7d70cd0 100755
--- a/src/libutil/string.cpp
+++ b/src/libutil/string.cpp
@@ -3,7 +3,8 @@
  * String util
  *
  * Author: Ming Tsang
- * Copyright (c) 2014 HKUST SmartCar Team
+ * Copyright (c) 2014-2015 HKUST SmartCar Team
+ * Refer to LICENSE for details
  */
 
 #include <cstdarg>